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parameterized variable gradient ascent step size

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Kevin Dee
2026-01-11 18:50:14 -08:00
parent 7ba21fbaa7
commit 2a48b1d469
3 changed files with 7 additions and 1 deletions
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5
@agent/agent.m
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@@ -34,6 +34,11 @@ classdef agent
plotCommsGeometry = true; plotCommsGeometry = true;
end end
properties (SetAccess = private, GetAccess = public)
initialStepSize = 0.2;
stepDecayRate = NaN;
end
methods (Access = public) methods (Access = public)
[obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label); [obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
[obj] = run(obj, domain, partitioning, t, index, agents); [obj] = run(obj, domain, partitioning, t, index, agents);

1
@agent/initialize.m
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@@ -24,6 +24,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.sensorModel = sensorModel; obj.sensorModel = sensorModel;
obj.label = label; obj.label = label;
obj.plotCommsGeometry = plotCommsGeometry; obj.plotCommsGeometry = plotCommsGeometry;
obj.stepDecayRate = obj.initialStepSize / maxIter;
% Initialize performance vector % Initialize performance vector
obj.performance = [0, NaN(1, maxIter), 0]; obj.performance = [0, NaN(1, maxIter), 0];

2
@agent/run.m
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@@ -66,7 +66,7 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
gradC = [(C_delta(2)-C_delta(3))/(2*delta), (C_delta(4)-C_delta(5))/(2*delta), (C_delta(6)-C_delta(7))/(2*delta)]; gradC = [(C_delta(2)-C_delta(3))/(2*delta), (C_delta(4)-C_delta(5))/(2*delta), (C_delta(6)-C_delta(7))/(2*delta)];
% Compute scaling factor % Compute scaling factor
targetRate = 0.2 - 0.0008 * timestepIndex; % slow down as you get closer targetRate = obj.initialStepSize - obj.stepDecayRate * timestepIndex; % slow down as you get closer
rateFactor = targetRate / norm(gradC); rateFactor = targetRate / norm(gradC);
% Compute unconstrained next position % Compute unconstrained next position