kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fixed lesser neighbor algorithm

Browse Source
This commit is contained in:
Kevin Dee
2026-01-06 10:57:56 -08:00
parent 7d1154d028
commit 4fe897455d
4 changed files with 127 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

77
test/test_miSim.m
View File

@@ -571,7 +571,8 @@ classdef test_miSim < matlab.unittest.TestCase
% No communications link should be established
tc.assertEqual(tc.testClass.adjacency, logical(eye(2)));
end
function test_LNA_example_case(tc)
function test_LNA_case_1(tc)
% based on example in meeting
% No obstacles
% Fixed 5 agents initial conditions
% unitary communicaitons radius
@@ -586,16 +587,12 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agent collision geometry
radius = .01;
d = 1;
geometry1 = spherical;
geometry2 = geometry1;
geometry3 = geometry2;
geometry4 = geometry3;
geometry5 = geometry4;
geometry1 = geometry1.initialize(tc.domain.center + [d, 0, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center, radius, REGION_TYPE.COLLISION);
geometry3 = geometry2.initialize(tc.domain.center + [-d, d, 0], radius, REGION_TYPE.COLLISION);
geometry4 = geometry2.initialize(tc.domain.center + [-2*d, d, 0], radius, REGION_TYPE.COLLISION);
geometry5 = geometry2.initialize(tc.domain.center + [0, d, 0], radius, REGION_TYPE.COLLISION);
geometry5 = spherical;
geometry1 = geometry5.initialize(tc.domain.center + [d, 0, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry5.initialize(tc.domain.center, radius, REGION_TYPE.COLLISION);
geometry3 = geometry5.initialize(tc.domain.center + [-d, d, 0], radius, REGION_TYPE.COLLISION);
geometry4 = geometry5.initialize(tc.domain.center + [-2*d, d, 0], radius, REGION_TYPE.COLLISION);
geometry5 = geometry5.initialize(tc.domain.center + [0, d, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -619,8 +616,62 @@ classdef test_miSim < matlab.unittest.TestCase
[ 1, 1, 0, 0, 0; ...
1, 1, 0, 0, 1; ...
0, 0, 1, 1, 1;
0, 0, 1, 0, 0;
0, 1, 1, 0, 0; ]));
0, 0, 1, 1, 0;
0, 1, 1, 0, 1; ]));
end
function test_LNA_case_2(tc)
% based on example in paper Asynchronous Local Construction of Bounded-Degree Network Topologies Using Only Neighborhood Information
% No obstacles
% Fixed 7 agents initial conditions
% unitary communicaitons radius
% negligible collision radius
% make basic domain
l = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
radius = .01;
d = 1;
geometry7 = spherical;
geometry1 = geometry7.initialize(tc.domain.center + [-0.9 * d/sqrt(2), 0.9 * d/sqrt(2), 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry7.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], radius, REGION_TYPE.COLLISION);
geometry3 = geometry7.initialize(tc.domain.center + [0.9 * d, 0, 0], radius, REGION_TYPE.COLLISION);
geometry4 = geometry7.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], radius, REGION_TYPE.COLLISION);
geometry5 = geometry7.initialize(tc.domain.center + [0, 0.9 * d, 0], radius, REGION_TYPE.COLLISION);
geometry6 = geometry7.initialize(tc.domain.center, radius, REGION_TYPE.COLLISION);
geometry7 = geometry7.initialize(tc.domain.center + [d/2, d/2, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Initialize agents
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], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [0.9 * d, 0, 0], zeros(1,3), 0, 0, geometry3, sensor, commsRadius);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], zeros(1,3), 0, 0, geometry4, sensor, commsRadius);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, 0.9 * d, 0], zeros(1,3), 0, 0, geometry5, sensor, commsRadius);
tc.agents{6} = tc.agents{6}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry6, sensor, commsRadius);
tc.agents{7} = tc.agents{7}.initialize(tc.domain.center + [d/2, d/2, 0], zeros(1,3), 0, 0, geometry7, sensor, commsRadius);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, false, false);
% Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
[ 1, 1, 0, 0, 0, 0, 0; ...
1, 1, 0, 0, 1, 0, 0; ...
0, 0, 1, 1, 0, 0, 0;
0, 0, 1, 1, 0, 1, 0;
0, 1, 0, 0, 1, 1, 0;
0, 0, 0, 1, 1, 1, 1;
0, 0, 0, 0, 0, 1, 1; ]));
end
end