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fixed comms LOS obstruction by obstacles

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This commit is contained in:
Kevin Dee
2025-12-24 16:00:42 -08:00
parent 14e372ae55
commit 50eaad9504
4 changed files with 135 additions and 43 deletions
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50
test/test_miSim.m
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@@ -490,7 +490,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
function test_obstacle_avoidance(tc)
% Fixed single obstacle
% Fixed single agent initial conditions
% Fixed two agents initial conditions
% Exaggerated large collision geometries
% make basic domain
l = 10; % domain size
@@ -514,8 +514,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*radius, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*radius, 2, sprintf("Agent %d", 2), false);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 5*radius, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 5*radius, 2, sprintf("Agent %d", 2), false);
% Initialize obstacles
obstacleLength = 1;
@@ -523,11 +523,53 @@ classdef test_miSim < matlab.unittest.TestCase
tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, tc.minAlt; 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.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 100, tc.obstacles, tc.makeVideo);
% Run the simulation
tc.testClass.run();
end
function test_obstacle_blocks_comms_LOS(tc)
% Fixed single obstacle
% Fixed two agents initial conditions
% Exaggerated large communications 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 = .25;
d = 2;
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - [d, 0, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - [0, d, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
% 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 = 5;
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, 2, sprintf("Agent %d", 2), false);
% Initialize obstacles
obstacleLength = 1.5;
tc.obstacles{1} = rectangularPrism;
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.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, tc.makeVideo);
% No communications link should be established
tc.assertEqual(tc.testClass.adjacency, logical(eye(2)));
end
end
methods