fixed unit tests

@agent/agent.m

@@ -3,13 +3,13 @@ classdef agent
         % Identifiers
         label = "";
 
-        % Sensor
-        sensorModel;
-
         % State
         lastPos = NaN(1, 3); % position from previous timestep
         pos = NaN(1, 3); % current position
 
+        % Sensor
+        sensorModel;
+
         % Collision
         collisionGeometry;
 
@@ -17,10 +17,10 @@ classdef agent
         fovGeometry;
 
         % Communication
-        comRange = NaN;
         commsGeometry = spherical;
         lesserNeighbors = [];
 
+        % Performance
         performance = 0;
 
         % Plotting
@@ -29,7 +29,7 @@ classdef agent
     end
 
     properties (SetAccess = private, GetAccess = public)
-        initialStepSize = 0.2;
+        initialStepSize = NaN;
         stepDecayRate = NaN;
     end
 

@agent/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, label, plotCommsGeometry)
+function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, label, plotCommsGeometry)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'agent')};
         pos (1, 3) double;
@@ -6,6 +6,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
         sensorModel (1, 1) {mustBeSensor};
         comRange (1, 1) double;
         maxIter (1, 1) double;
+        initialStepSize (1, 1) double = 0.2;
         label (1, 1) string = "";
         plotCommsGeometry (1, 1) logical = false;
     end
@@ -18,6 +19,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
     obj.sensorModel = sensorModel;
     obj.label = label;
     obj.plotCommsGeometry = plotCommsGeometry;
+    obj.initialStepSize = initialStepSize;
     obj.stepDecayRate = obj.initialStepSize / maxIter;
 
     % Initialize performance vector

@miSim/constrainMotion.m

@@ -14,7 +14,7 @@ function [obj] = constrainMotion(obj)
 
     agents = [obj.agents{:}];
     v = reshape(([agents.pos] - [agents.lastPos])./obj.timestep, 3, size(obj.agents, 1))';
-    if all(isnan(v)) || all(v == zeros(1, 3))
+    if all(isnan(v), 'all') || all(v == zeros(size(obj.agents, 1), 3), 'all')
         % Agents are not attempting to move, so there is no motion to be
         % constrained
         return;
@@ -39,7 +39,7 @@ function [obj] = constrainMotion(obj)
             
             A(kk, (3 * ii - 2):(3 * ii)) =  -2 * (agents(ii).pos - agents(jj).pos);
             A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
-            b(kk) = obj.barrierGain * h(ii, jj)^3;
+            b(kk) = obj.barrierGain * h(ii, jj)^obj.barrierExponent;
             kk = kk + 1;
         end
     end
@@ -54,7 +54,7 @@ function [obj] = constrainMotion(obj)
             hObs(ii, jj) = dot(agents(ii).pos - cPos, agents(ii).pos - cPos) - agents(ii).collisionGeometry.radius^2;
 
             A(kk, (3 * ii - 2):(3 * ii)) = -2 * (agents(ii).pos - cPos);
-            b(kk) = obj.barrierGain * hObs(ii, jj)^3;
+            b(kk) = obj.barrierGain * hObs(ii, jj)^obj.barrierExponent;
            
             kk = kk + 1;
         end
@@ -67,37 +67,37 @@ function [obj] = constrainMotion(obj)
         % X minimum
         h_xMin = (agents(ii).pos(1) - obj.domain.minCorner(1)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [-1, 0, 0];
-        b(kk) = obj.barrierGain * h_xMin^3;
+        b(kk) = obj.barrierGain * h_xMin^obj.barrierExponent;
         kk = kk + 1;
     
         % X maximum
         h_xMax = (obj.domain.maxCorner(1) - agents(ii).pos(1)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [1, 0, 0];
-        b(kk) = obj.barrierGain * h_xMax^3;
+        b(kk) = obj.barrierGain * h_xMax^obj.barrierExponent;
         kk = kk + 1;
     
         % Y minimum
         h_yMin = (agents(ii).pos(2) - obj.domain.minCorner(2)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, -1, 0];
-        b(kk) = obj.barrierGain * h_yMin^3;
+        b(kk) = obj.barrierGain * h_yMin^obj.barrierExponent;
         kk = kk + 1;
     
         % Y maximum
         h_yMax = (obj.domain.maxCorner(2) - agents(ii).pos(2)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 1, 0];
-        b(kk) = obj.barrierGain * h_yMax^3;
+        b(kk) = obj.barrierGain * h_yMax^obj.barrierExponent;
         kk = kk + 1;
     
         % Z minimum
         h_zMin = (agents(ii).pos(3) - obj.domain.minCorner(3)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
-        b(kk) = obj.barrierGain * h_zMin^3;
+        b(kk) = obj.barrierGain * h_zMin^obj.barrierExponent;
         kk = kk + 1;
     
         % Z maximum
         h_zMax = (obj.domain.maxCorner(2) - agents(ii).pos(2)) - agents(ii).collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, 1];
-        b(kk) = obj.barrierGain * h_zMax^3;
+        b(kk) = obj.barrierGain * h_zMax^obj.barrierExponent;
         kk = kk + 1;
     end
 
@@ -114,11 +114,7 @@ function [obj] = constrainMotion(obj)
 
                 A(kk, (3 * ii - 2):(3 * ii)) =  2 * (agents(ii).pos - agents(jj).pos);
                 A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
-                b(kk) = obj.barrierGain * hComms(ii, jj);
+                b(kk) = obj.barrierGain * hComms(ii, jj)^obj.barrierExponent;
-
-                % dVNominal = v(ii, 1:3) - v(jj, 1:3); % nominal velocities
-                % h_dot_nom = -2 * (agents(ii).pos - agents(jj).pos) * dVNominal';
-                % b(kk) = -h_dot_nom + obj.barrierGain * hComms(ii, jj)^3;
 
                 kk = kk + 1; 
             end

@miSim/initialize.m

@@ -1,8 +1,10 @@
-function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
+function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
         domain (1, 1) {mustBeGeometry};
         agents (:, 1) cell;
+        barrierGain (1, 1) double = 100;
+        barrierExponent (1, 1) double = 3;
         minAlt (1, 1) double = 1;
         timestep (:, 1) double = 0.05;
         maxIter (:, 1) double = 1000;
@@ -24,6 +26,9 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
     end
     obj.makeVideo = makeVideo;
 
+    % Generate artifact(s) name
+    obj.artifactName = strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'));
+
     % Define simulation time parameters
     obj.timestep = timestep;
     obj.timestepIndex = 0;
@@ -37,10 +42,9 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
 
     % Add an additional obstacle spanning the domain's footprint to 
     % represent the minimum allowable altitude
-    obj.minAlt = minAlt;
+    if minAlt > 0
-    if obj.minAlt > 0
         obj.obstacles{end + 1, 1} = rectangularPrism;
-        obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
+        obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
     end
 
     % Define agents
@@ -61,6 +65,10 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
         end
     end
 
+    % Set CBF parameters
+    obj.barrierGain = barrierGain;
+    obj.barrierExponent = barrierExponent;
+
     % Compute adjacency matrix and lesser neighbors
     obj = obj.updateAdjacency();
     obj = obj.lesserNeighbor();
@@ -83,4 +91,7 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
 
     % Set up plots showing initialized state
     obj = obj.plot();
+
+    % Run validations
+    obj.validate();
 end

@miSim/miSim.m

@@ -5,7 +5,6 @@ classdef miSim
     properties (SetAccess = private, GetAccess = public)
         timestep = NaN; % delta time interval for simulation iterations
         timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays)
-        partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run
         maxIter = NaN; % maximum number of simulation iterations
         domain = rectangularPrism;
         objective = sensingObjective;
@@ -16,9 +15,9 @@ classdef miSim
         partitioning = NaN;
         perf; % sensor performance timeseries array
         performance = 0; % simulation performance timeseries vector
-        barrierGain = 100; % collision avoidance parameter
+        barrierGain = 100; % CBF gain parameter
-        minAlt = 1; % minimum allowed altitude constraint
+        barrierExponent = 3; % CBF exponent parameter
-
+        artifactName = "";
         fPerf; % performance plot figure
     end
 
@@ -55,7 +54,7 @@ classdef miSim
     end
 
     methods (Access = public)
-        [obj] = initialize(obj, domain, agents, timestep, partitoningFreq, maxIter, obstacles);
+        [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo);
         [obj] = run(obj);
         [obj] = lesserNeighbor(obj);
         [obj] = constrainMotion(obj);

@miSim/plot.m

@@ -51,4 +51,7 @@ function obj = plot(obj)
 
     % Plot h functions
     obj = obj.plotH();
+
+    % Switch back to primary figure
+    figure(obj.f);
 end

@miSim/setupVideoWriter.m

@@ -7,9 +7,9 @@ function v = setupVideoWriter(obj)
     end
 
     if ispc || ismac
-        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'MPEG-4');
+        v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, 'sandbox', strcat(obj.artifactName, "_miSimHist")), 'MPEG-4');
     elseif isunix
-        v = VideoWriter(fullfile('.', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
+        v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, 'sandbox', strcat(obj.artifactName, "_miSimHist")), 'Motion JPEG AVI');
     end
     
     v.FrameRate = 1 / obj.timestep;

@miSim/validate.m

@@ -14,6 +14,14 @@ function validate(obj)
         warning("Eliminated network connections that were necessary");
     end
 
-    %% 
+    %% Obstacle Validators
+    AO_collisions = cellfun(@(a) cellfun(@(o) o.contains(a.pos), obj.obstacles), obj.agents, 'UniformOutput', false);
+    AO_collisions = vertcat(AO_collisions{:});
+    if any(AO_collisions)
+        [idx, idy] = find(AO_collisions);
+        for ii = 1:size(idx, 1)
+            error("Agent(s) %d colliding with obstacle(s) %d", idx(ii), idy(ii));
+        end
+    end
 
 end

@miSim/writeParams.m

@@ -0,0 +1,25 @@
+function writeParams(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+    end
+
+    % Collect agent parameters
+    collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
+    alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
+    betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
+    alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
+    betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
+    comRange = cellfun(@(x) x.commsGeometry.radius, obj.agents);
+
+    % Combine with simulation parameters
+    params = struct('timestep', obj.timestep, 'maxIter', obj.maxIter, 'minAlt', obj.obstacles{end}.maxCorner(3), 'discretizationStep', obj.domain.objective.discretizationStep, ...
+                    'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
+                    'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange);
+
+    % Save all parameters to output file
+    paramsFile = strcat(obj.artifactName, "_miSimParams");
+    paramsFile = fullfile(matlab.project.rootProject().RootFolder, 'sandbox', paramsFile);
+    save(paramsFile, "-struct", "params");
+end

@sensingObjective/sensingObjective.m

@@ -2,15 +2,15 @@ classdef sensingObjective
     % Sensing objective definition parent class
     properties (SetAccess = private, GetAccess = public)
         label = "";
-        groundAlt = 0;
+        groundAlt = NaN;
-        groundPos = [0, 0];
+        groundPos = [NaN, NaN];
-        discretizationStep = 1;
+        discretizationStep = NaN;
-        objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner
+        objectiveFunction = @(x, y) NaN; % define objective functions over a grid in this manner
         X = [];
         Y = [];
         values = [];
-        protectedRange = 1; % keep obstacles from crowding objective
+        protectedRange = NaN; % keep obstacles from crowding objective
-        sensorPerformanceMinimum = 1e-6; % minimum sensor performance to allow assignment of a point in the domain to a partition
+        sensorPerformanceMinimum = NaN; % minimum sensor performance to allow assignment of a point in the domain to a partition
     end
 
     methods (Access = public)

geometries/@rectangularPrism/initializeRandom.m

@@ -6,7 +6,7 @@ function [obj] = initializeRandom(obj, tag, label, minDimension, maxDimension, d
         minDimension (1, 1) double = 10;
         maxDimension (1, 1) double = 20;
         domain (1, 1) {mustBeGeometry} = rectangularPrism;
-        minAlt (1, 1) double = 0;
+        minAlt (1, 1) double = 1;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'rectangularPrism')};

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/BtZvZtLyHugR7nfGjg6ukY77EG0d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/BtZvZtLyHugR7nfGjg6ukY77EG0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="writeParams.m" type="File"/>

test/parametricTestSuite.m

@@ -7,7 +7,6 @@ classdef parametricTestSuite < matlab.unittest.TestCase
 
         %% Diagnostic Parameters
         % No effect on simulation dynamics
-        timestep = 1;
         makeVideo = true; % disable video writing for big performance increase
         makePlots = true; % disable plotting for big performance increase (also disables video)
         plotCommsGeometry = false; % disable plotting communications geometries
@@ -15,16 +14,25 @@ classdef parametricTestSuite < matlab.unittest.TestCase
     end
     properties (TestParameter)
         %% Simulation Parameters
+        timestep = num2cell([1]); % duration of one simulation timestep
         maxIter = num2cell([25]); % number of timesteps to run
 
         % Domain parameters
         minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
 
+        % Constraint parameters
+        barrierGain = num2cell([100]);
+        barrierExponent = num2cell([3]);
+
         % Sensing Objective Parameters
-        discretizationStep = num2cell([0.01]);
+        sensorPerformanceMinimum = num2cell([1e-6]); % sensor performance threshhold for partition assignment
+        discretizationStep = num2cell([0.01]); % sensing objective discretization step size
+        % this value goes on to determine central differences used in
+        % gradient ascent and partitioning element sizes
 
         % Agent Parameters
         collisionRadius = num2cell([0.1]);
+        initialStepSize = num2cell([0.2]); % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
 
         % Sensor Model Parameters
         alphaDist = num2cell([2.5, 5]);
@@ -38,23 +46,26 @@ classdef parametricTestSuite < matlab.unittest.TestCase
 
     methods (Test, ParameterCombination = "exhaustive")
         % Test cases
-        function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRadius, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
+        function single_agent_gradient_ascent(tc, timestep, maxIter, barrierGain, barrierExponent, minAlt, sensorPerformanceMinimum, discretizationStep, collisionRadius, initialStepSize, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
             % Set up square domain
             l = 10;
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
-            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange);
+            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange, sensorPerformanceMinimum);
             
             % Set up agent
             sensorModel = sigmoidSensor;
             sensorModel = sensorModel.initialize(alphaDist, betaDist, alphaTilt, betaTilt);
-            agentPos = [l/4, l/4, 3*l/4];
+            agentPos = [l/4, l/4, l/4];
             collisionGeometry = spherical;
             collisionGeometry = collisionGeometry.initialize(agentPos, collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Region");
             agents = {agent};
-            agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, "Agent 1", tc.plotCommsGeometry);
+            agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, "Agent 1", tc.plotCommsGeometry);
 
             % Set up simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, agents, minAlt, tc.timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+
+            % Save simulation parameters to output file
+            tc.testClass.writeParams();
 
             % Run
             tc.testClass = tc.testClass.run();

test/test_miSim.m

@@ -9,7 +9,7 @@ classdef test_miSim < matlab.unittest.TestCase
         plotCommsGeometry = false; % disable plotting communications geometries
 
         % Sim
-        maxIter = 250;
+        maxIter = 50;
         timestep = 0.05;
 
         % Domain
@@ -30,6 +30,7 @@ classdef test_miSim < matlab.unittest.TestCase
         objective = sensingObjective;
 
         % Agents
+        initialStepSize = 0.2; % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
         minAgents = 3; % Minimum number of agents to be randomly generated
         maxAgents = 4; % Maximum number of agents to be randomly generated
         agents = cell(0, 1);
@@ -51,6 +52,10 @@ classdef test_miSim < matlab.unittest.TestCase
 
         % Communications
         comRange = 8; % Maximum range between agents that forms a communications link
+
+        % Constraints
+        barrierGain = 100;
+        barrierExponent = 3;
     end
 
     % Setup for each test
@@ -160,7 +165,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, sensor, tc.comRange, tc.maxIter); 
+                    newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, sensor, tc.comRange, tc.maxIter, tc.initialStepSize); 
 
                     % Make sure candidate agent doesn't collide with
                     % domain
@@ -208,7 +213,7 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
         end
         function misim_run(tc)
             % randomly create obstacles
@@ -294,7 +299,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, sensor, tc.comRange, tc.maxIter);
+                    newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, sensor, tc.comRange, tc.maxIter, tc.initialStepSize);
                     
                     % Make sure candidate agent doesn't collide with
                     % domain
@@ -342,7 +347,10 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
+
+            % Write out parameters
+            tc.testClass.writeParams();
 
             % Run simulation loop
             tc.testClass = tc.testClass.run();
@@ -376,17 +384,17 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent; agent};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], geometry1, sensor, 3*d, tc.maxIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], geometry1, sensor, 3*d, tc.maxIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], geometry2, sensor, 3*d, tc.maxIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], geometry2, sensor, 3*d, tc.maxIter, tc.initialStepSize);
 
             % Optional third agent along the +Y axis
             geometry3 = rectangularPrism;
             geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
             tc.agents{3} = agent;
-            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], geometry3, sensor, 3*d, tc.maxIter);
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], geometry3, sensor, 3*d, tc.maxIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, tc.maxIter, cell(0, 1), false, false);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, cell(0, 1), false, false);
         
             tc.verifyEqual(tc.testClass.partitioning(500, 500:502), [2, 3, 1]); % all three near center
             tc.verifyLessThan(sum(tc.testClass.partitioning == 1, 'all'), sum(tc.testClass.partitioning == 0, 'all')); % more non-assignments than partition 1 assignments
@@ -418,10 +426,10 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent};
-            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], geometry1, sensor, 3, tc.maxIter);
+            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], geometry1, sensor, 3, tc.maxIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, tc.maxIter, cell(0, 1), false, false);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, cell(0, 1), false, false);
             close(tc.testClass.fPerf);
 
             tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
@@ -450,12 +458,12 @@ classdef test_miSim < matlab.unittest.TestCase
             % f = sensor.plotParameters();
 
             % Initialize agents
-            nIter = 100;
+            nIter = 75;
             tc.agents = {agent};
-            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, sensor, 3, nIter);
+            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, sensor, 3, nIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, nIter, cell(0, 1));
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, nIter, cell(0, 1));
             
             % Run the simulation
             tc.testClass = tc.testClass.run();
@@ -489,13 +497,13 @@ classdef test_miSim < matlab.unittest.TestCase
             sensor = sensor.initialize(alphaDist, 3, 15, 3);
 
             % Initialize agents
-            nIter = 50;
+            nIter = 25;
             tc.agents = {agent; agent};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, sensor, 5, nIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, sensor, 5, nIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, sensor, 5, nIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, sensor, 5, nIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, nIter, cell(0, 1), tc.makeVideo, tc.makePlots);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, nIter, cell(0, 1), tc.makeVideo, tc.makePlots);
             
             % Run the simulation
             tc.testClass.run();
@@ -517,7 +525,7 @@ classdef test_miSim < matlab.unittest.TestCase
             radius = 1.1;
             d = [3, 0, 0];
 
-            yOffset = 0;
+            yOffset = 1;
             % choice of 0 leads to the agents getting stuck attempting to go around the obstacle on both sides
             % choice of 1 leads to one agent easily going around while the other gets stuck and the communications link is broken
 
@@ -539,10 +547,10 @@ classdef test_miSim < matlab.unittest.TestCase
             % Initialize agents
             commsRadius = (2*radius + obstacleLength) * 0.9; % defined such that they cannot go around the obstacle on both sides
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.1 - yOffset, 0], geometry1, sensor, commsRadius, tc.maxIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.1 - yOffset, 0], geometry1, sensor, commsRadius, tc.maxIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius  *1.1 + yOffset, 0], geometry2, sensor, commsRadius, tc.maxIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius  *1.1 + yOffset, 0], geometry2, sensor, commsRadius, tc.maxIter, tc.initialStepSize);
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makeVideo);
             
             % Run the simulation
             tc.testClass.run();
@@ -576,14 +584,14 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.obstacles = {};
             
             % Initialize agents
-            nIter = 75;
+            nIter = 50;
             commsRadius = 4; % defined such that they cannot reach their objective without breaking connectivity
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(dom.center + d, geometry1, sensor, commsRadius, nIter);
+            tc.agents{1} = tc.agents{1}.initialize(dom.center + d, geometry1, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(dom.center - d, geometry2, sensor, commsRadius, nIter);
+            tc.agents{2} = tc.agents{2}.initialize(dom.center - d, geometry2, sensor, commsRadius, nIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(dom, tc.agents, tc.minAlt, tc.timestep, nIter, tc.obstacles, true, false);
+            tc.testClass = tc.testClass.initialize(dom, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, nIter, tc.obstacles, true, false);
             
             % Run the simulation
             tc.testClass = tc.testClass.run();
@@ -616,8 +624,8 @@ classdef test_miSim < matlab.unittest.TestCase
             nIter = 125;
             commsRadius = 5;
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], geometry1, sensor, commsRadius, nIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], geometry1, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], geometry2, sensor, commsRadius, nIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], geometry2, sensor, commsRadius, nIter, tc.initialStepSize);
             
             % Initialize obstacles
             obstacleLength = 1.5;
@@ -625,7 +633,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, 0; tc.domain.center(1:2) + obstacleLength, tc.domain.maxCorner(3)], REGION_TYPE.OBSTACLE, "Obstacle 1");
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, 0, tc.timestep, nIter, tc.obstacles, false, false);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, 0, tc.timestep, nIter, tc.obstacles, false, false);
 
             % No communications link should be established
             tc.assertEqual(tc.testClass.adjacency, logical(true(2)));
@@ -662,14 +670,14 @@ classdef test_miSim < matlab.unittest.TestCase
             nIter = 125;
             commsRadius = d;
             tc.agents = {agent; agent; agent; agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, sensor, commsRadius, nIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, 0, 0, geometry2, sensor, commsRadius, nIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, geometry2, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], geometry3, sensor, commsRadius, nIter);
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], geometry3, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], geometry4, sensor, commsRadius, nIter);
+            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], geometry4, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], geometry5, sensor, commsRadius, nIter);
+            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], geometry5, sensor, commsRadius, nIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, 0, tc.timestep, nIter, tc.obstacles, false, false);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, 0, tc.timestep, nIter, tc.obstacles, false, false);
 
             % Constraint adjacency matrix defined by LNA should be as follows
             tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
@@ -713,16 +721,16 @@ classdef test_miSim < matlab.unittest.TestCase
             nIter = 125;
             commsRadius = d;
             tc.agents = {agent; agent; agent; agent; agent; agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [-0.9 * d/sqrt(2), 0.9 * d/sqrt(2), 0], geometry1, sensor, commsRadius, nIter);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [-0.9 * d/sqrt(2), 0.9 * d/sqrt(2), 0], geometry1, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], geometry2, sensor, commsRadius, nIter);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], geometry2, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [0.9 * d, 0, 0], geometry3, sensor, commsRadius, nIter);
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [0.9 * d, 0, 0], geometry3, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], geometry4, sensor, commsRadius, nIter);
+            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], geometry4, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, 0.9 * d, 0], geometry5, sensor, commsRadius, nIter);
+            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, 0.9 * d, 0], geometry5, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{6} = tc.agents{6}.initialize(tc.domain.center, geometry6, sensor, commsRadius, nIter);
+            tc.agents{6} = tc.agents{6}.initialize(tc.domain.center, geometry6, sensor, commsRadius, nIter, tc.initialStepSize);
-            tc.agents{7} = tc.agents{7}.initialize(tc.domain.center + [d/2, d/2, 0], geometry7, sensor, commsRadius, nIter);
+            tc.agents{7} = tc.agents{7}.initialize(tc.domain.center + [d/2, d/2, 0], geometry7, sensor, commsRadius, nIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, 0, tc.timestep, nIter, tc.obstacles, false, false);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, 0, tc.timestep, nIter, tc.obstacles, false, false);
 
             % Constraint adjacency matrix defined by LNA should be as follows
             tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...