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per-UAV parameters

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This commit is contained in:
Kevin Dee
2026-03-03 16:18:07 -08:00
parent f40d2bfd84
commit 438ebda388
13 changed files with 171 additions and 83 deletions
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62
aerpaw/guidance_step.m
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@@ -18,17 +18,17 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% On MATLAB path this is ignored; parameters are loaded
% from scenario.csv via initializeFromCsv instead.
% Index mapping (1-based):
% 1 timestep 9 collisionRadius
% 2 maxIter 10 comRange
% 3 minAlt 11 alphaDist
% 4 discretizationStep 12 betaDist
% 5 protectedRange 13 alphaTilt
% 6 initialStepSize 14 betaTilt
% 7 barrierGain 15-17 domainMin
% 8 barrierExponent 18-20 domainMax
% 21-22 objectivePos
% 23-26 objectiveVar (2x2, col-major)
% 27 sensorPerformanceMinimum
% 1 timestep 9-12 collisionRadius[1:4]
% 2 maxIter 13-16 comRange[1:4]
% 3 minAlt 17-20 alphaDist[1:4]
% 4 discretizationStep 21-24 betaDist[1:4]
% 5 protectedRange 25-28 alphaTilt[1:4]
% 6 initialStepSize 29-32 betaTilt[1:4]
% 7 barrierGain 33-35 domainMin
% 8 barrierExponent 36-38 domainMax
% 39-40 objectivePos
% 41-44 objectiveVar (2x2, col-major)
% 45 sensorPerformanceMinimum
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count
@@ -72,6 +72,8 @@ if isInit
else
% ================================================================
% Compiled path: unpack scenarioParams array and obstacle arrays.
% Per-UAV parameters are stored as MAX_CLIENTS-wide blocks; only
% the first numAgents entries of each block are used.
% ================================================================
TIMESTEP = scenarioParams(1);
MAX_ITER = int32(scenarioParams(2));
@@ -81,17 +83,17 @@ if isInit
INITIAL_STEP_SIZE = scenarioParams(6);
BARRIER_GAIN = scenarioParams(7);
BARRIER_EXPONENT = scenarioParams(8);
COLLISION_RADIUS = scenarioParams(9);
COMMS_RANGE = scenarioParams(10);
ALPHA_DIST = scenarioParams(11);
BETA_DIST = scenarioParams(12);
ALPHA_TILT = scenarioParams(13);
BETA_TILT = scenarioParams(14);
DOMAIN_MIN = scenarioParams(15:17);
DOMAIN_MAX = scenarioParams(18:20);
OBJECTIVE_GROUND_POS = scenarioParams(21:22);
OBJECTIVE_VAR = reshape(scenarioParams(23:26), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(27);
COLLISION_RADIUS_VEC = scenarioParams(9:12); % per-UAV [1:MAX_CLIENTS]
COMMS_RANGE_VEC = scenarioParams(13:16);
ALPHA_DIST_VEC = scenarioParams(17:20);
BETA_DIST_VEC = scenarioParams(21:24);
ALPHA_TILT_VEC = scenarioParams(25:28);
BETA_TILT_VEC = scenarioParams(29:32);
DOMAIN_MIN = scenarioParams(33:35);
DOMAIN_MAX = scenarioParams(36:38);
OBJECTIVE_GROUND_POS = scenarioParams(39:40);
OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45);
% --- Build domain geometry ---
dom = rectangularPrism;
@@ -112,19 +114,21 @@ if isInit
dom.objective = dom.objective.initializeWithValues(objValues, dom, ...
DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% --- Build shared sensor model ---
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST, BETA_DIST, ALPHA_TILT, BETA_TILT);
% --- Initialise agents from GPS positions ---
% --- Initialise agents from GPS positions (per-UAV parameters) ----
agentList = cell(numAgents, 1);
for ii = 1:numAgents
pos = currentPositions(ii, :);
% Per-UAV sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST_VEC(ii), BETA_DIST_VEC(ii), ...
ALPHA_TILT_VEC(ii), BETA_TILT_VEC(ii));
geom = spherical;
geom = geom.initialize(pos, COLLISION_RADIUS, REGION_TYPE.COLLISION, ...
geom = geom.initialize(pos, COLLISION_RADIUS_VEC(ii), REGION_TYPE.COLLISION, ...
sprintf("UAV %d Collision", ii));
ag = agent;
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE, MAX_ITER, ...
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE_VEC(ii), MAX_ITER, ...
INITIAL_STEP_SIZE, sprintf("UAV %d", ii));
agentList{ii} = ag;
end