added static network option

@miSim/initialize.m

@@ -1,4 +1,4 @@
-function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff)
+function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "miSim")};
         domain (1, 1) {mustBeGeometry};
@@ -13,6 +13,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         makeVideo (1, 1) logical = true;
         useDoubleIntegrator (1, 1) logical = false;
         dampingCoeff (1, 1) double = 2.0;
+        useFixedTopology (1, 1) logical = false;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, "miSim")};
@@ -91,10 +92,15 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
     % Set dynamics model
     obj.useDoubleIntegrator = useDoubleIntegrator;
     obj.dampingCoeff = dampingCoeff;
+    obj.useFixedTopology = useFixedTopology;
 
-    % Compute adjacency matrix and lesser neighbors
+    % Compute adjacency matrix and network topology
     obj = obj.updateAdjacency();
+    if obj.useFixedTopology
+        obj.constraintAdjacencyMatrix = obj.adjacency;
+    else
         obj = obj.lesserNeighbor();
+    end
 
     % Set up times to iterate over
     obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';

@miSim/initializeFromCsv.m

@@ -90,6 +90,11 @@ if isfield(scenario, 'dampingCoeff')
 else
     DAMPING_COEFF = 2.0;
 end
+if isfield(scenario, 'useFixedTopology')
+    USE_FIXED_TOPOLOGY = logical(scenario.useFixedTopology);
+else
+    USE_FIXED_TOPOLOGY = false;
+end
 
 % ---- Build domain --------------------------------------------------------
 dom = rectangularPrism;
@@ -137,6 +142,6 @@ end
 % ---- Initialise simulation (plots and video disabled) --------------------
 obj = obj.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
                      MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
-                     USE_DOUBLE_INTEGRATOR, DAMPING_COEFF);
+                     USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
 
 end

@miSim/miSim.m

@@ -20,6 +20,7 @@ classdef miSim
         minAlt = 0; % minimum allowable altitude (m)
         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
         artifactName = "";
         f; % main plotting tiled layout figure
         fPerf; % performance plot figure

@miSim/run.m

@@ -30,7 +30,9 @@ function [obj] = run(obj)
         obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
 
         % Determine desired communications links
+        if ~obj.useFixedTopology
             obj = obj.lesserNeighbor();
+        end
 
         % Moving
         % Iterate over agents to simulate their unconstrained motion

@miSim/teardown.m

@@ -13,12 +13,13 @@ function obj = teardown(obj)
 
     % Log results into matfile
     histPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist.mat"));
-    out = struct("agent", repmat(struct("pos", [], "vel", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", [], "useDoubleIntegrator", [], "dampingCoeff", []);
+    out = struct("agent", repmat(struct("pos", [], "vel", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", [], "useDoubleIntegrator", [], "dampingCoeff", [], "useFixedTopology", []);
 
     out.perf = obj.performance(1:(end - 1));
     out.barriers = [zeros(size(obj.barriers(1:end, 1), 1), 1), obj.barriers(1:end, 1:(end - 1))];
     out.dampingCoeff = obj.dampingCoeff;
     out.useDoubleIntegrator = obj.useDoubleIntegrator;
+    out.useFixedTopology = obj.useFixedTopology;
     for ii = 1:size(obj.agents, 1)
         out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3));
         out.agent(ii).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3));
@@ -49,6 +50,7 @@ function obj = teardown(obj)
     obj.barrierExponent = NaN;
     obj.useDoubleIntegrator = false;
     obj.dampingCoeff = 2.0;
+    obj.useFixedTopology = false;
     obj.artifactName = "";
 
 end

aerpaw/config/scenario.csv

@@ -1,2 +1,2 @@
-timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff
+timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology
-5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0
+5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 0

test/parametricTestSuite.m

@@ -57,7 +57,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
             end
 
             % Set up simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo, logical(params.useDoubleIntegrator), params.dampingCoeff);
+            tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo, logical(params.useDoubleIntegrator), params.dampingCoeff, logical(params.useFixedTopology));
 
             % Save simulation parameters to output file
             tc.testClass.writeInits();