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Merge branch 'main' into AERPAW-experiments

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This commit is contained in:
Kevin Dee
2026-05-25 15:10:12 -07:00
committed by GitHub
parent 85d2570c38 c73559cd69
commit 5b9b196e60
76 changed files with 1690 additions and 205 deletions
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@miSim/initialize.m
+3 -1
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@@ -1,4 +1,4 @@
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology, optimizeSensorPointing)
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
@@ -14,6 +14,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
useDoubleIntegrator (1, 1) logical = false;
dampingCoeff (1, 1) double = 2.0;
useFixedTopology (1, 1) logical = false;
optimizeSensorPointing (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "miSim")};
@@ -95,6 +96,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.useDoubleIntegrator = useDoubleIntegrator;
obj.dampingCoeff = dampingCoeff;
obj.useFixedTopology = useFixedTopology;
obj.optimizeSensorPointing = optimizeSensorPointing;
% Compute adjacency matrix and network topology
obj = obj.updateAdjacency();
@miSim/miSim.m
+1
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@@ -20,6 +20,7 @@ classdef miSim
useDoubleIntegrator = false; % false = single-integrator, true = double-integrator dynamics
dampingCoeff = 2.0; % velocity-proportional damping for double-integrator mode
useFixedTopology = false; % false = lesser neighbor (dynamic), true = fixed initial topology
optimizeSensorPointing = false; % false = fixed sensor tilt/azimuth, true = optimize tilt/azimuth via gradient ascent
artifactName = "";
f; % main plotting tiled layout figure
fPerf; % performance plot figure
@miSim/run.m
+18 -6
View File
@@ -10,11 +10,13 @@ function [obj] = run(obj)
% Start video writer
if obj.makeVideo
v = obj.setupVideoWriter();
drawnow;
v.open();
% Write initialization state frame in to video
I = getframe(obj.f);
v.writeVideo(I);
% Capture reference frame size; used to resize frames that deviate
% due to figure reflow during plot updates (e.g. in headless mode).
I_ref = getframe(obj.f);
v.writeVideo(I_ref);
videoFrameSize = [size(I_ref.cdata, 2), size(I_ref.cdata, 1)];
end
end
@@ -29,9 +31,16 @@ function [obj] = run(obj)
obj.validate();
end
% Clear RF sensor caches
if isa(obj.agents{1}.sensorModel, "rfSensor")
for ss = 1:size(obj.agents, 1)
obj.agents{ss}.sensorModel = obj.agents{ss}.sensorModel.clearRssCache;
end
end
% Update partitioning before moving (this one is strictly for
% plotting purposes, the real partitioning is done by the agents)
obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
[obj.partitioning, obj.agents] = obj.agents{1}.partition(obj.agents, obj.domain.objective);
% Determine desired communications links
if ~obj.useFixedTopology
@@ -46,7 +55,7 @@ function [obj] = run(obj)
% Moving
% Iterate over agents to simulate their unconstrained motion
for jj = 1:size(obj.agents, 1)
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.agents, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep);
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep, obj.optimizeSensorPointing, obj.agents([1:(jj - 1), (jj + 1):size(obj.agents, 1)]));
end
% Adjust motion determined by unconstrained gradient ascent using
@@ -70,6 +79,9 @@ function [obj] = run(obj)
% Write frame in to video
if obj.makeVideo
I = getframe(obj.f);
if size(I.cdata, 2) ~= videoFrameSize(1) || size(I.cdata, 1) ~= videoFrameSize(2)
I.cdata = imresize(I.cdata, [videoFrameSize(2), videoFrameSize(1)]);
end
v.writeVideo(I);
end
end
@miSim/writeInits.m
+36 -5
View File
@@ -13,10 +13,39 @@ function writeInits(obj)
% 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.betaTilt, obj.agents);
if isprop(obj.agents{1}.sensorModel, "alphaDist")
% sigmoidSensor parameters
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.betaTilt, obj.agents);
% others to zero
lossExponent = zeros(size(obj.agents));
P_TX = zeros(size(obj.agents));
BW = zeros(size(obj.agents));
f_c = zeros(size(obj.agents));
G_RX_dBi = zeros(size(obj.agents));
beamwidthExponent = zeros(size(obj.agents));
elseif isprop(obj.agents{1}.sensorModel, "P_TX")
% rfSensor parameters
lossExponent = cellfun(@(x) x.sensorModel.lossExponent, obj.agents);
P_TX = cellfun(@(x) x.sensorModel.P_TX, obj.agents);
BW = cellfun(@(x) x.sensorModel.BW, obj.agents);
f_c = cellfun(@(x) x.sensorModel.f_c, obj.agents);
G_RX_dBi = cellfun(@(x) x.sensorModel.G_RX_dBi, obj.agents);
beamwidthExponent = cellfun(@(x) x.sensorModel.beamwidthExponent, obj.agents);
% others to zero
alphaDist = zeros(size(obj.agents));
betaDist = zeros(size(obj.agents));
alphaTilt = zeros(size(obj.agents));
betaTilt = zeros(size(obj.agents));
end
% joint parameters
tilt = cellfun(@(x) x.sensorModel.tilt, obj.agents);
azimuth = cellfun(@(x) x.sensorModel.azimuth, obj.agents);
comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
@@ -30,7 +59,9 @@ function writeInits(obj)
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", numInputObs, ...
"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, "useFixedTopology", obj.useFixedTopology, ...
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
"tilt", tilt, "azimuth", azimuth, ... % joint sensor parameters
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ... % sigmoid sensor parameters
"lossExponent", lossExponent, "P_TX", P_TX, "BW", BW, "f_c", f_c, "G_RX_dBi", G_RX_dBi, "beamwidthExponent", beamwidthExponent, ... % RF sensor parameters
... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
"pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
"domainMin", obj.domain.minCorner, "domainMax", obj.domain.maxCorner, ...