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full simulation with RF sensors

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This commit is contained in:
Kevin Dee
2026-05-08 13:07:03 -07:00
parent 030dd30c7d
commit 78f9dcd579
12 changed files with 312 additions and 87 deletions
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@agent/agent.m
+2 -2
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@@ -50,8 +50,8 @@ classdef agent
obj.commsGeometry = spherical;
end
[obj] = initialize(obj, pos, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
[obj] = run(obj, domain, partitioning, t, index, agents);
[partitioning] = partition(obj, agents, objective)
[obj] = run(obj, domain, partitioning, t, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing, otherAgents);
[partitioning, agents] = partition(obj, agents, objective)
[obj, f] = plot(obj, ind, f);
updatePlots(obj);
end
@agent/partition.m
+18 -3
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@@ -1,4 +1,4 @@
function [partitioning] = partition(obj, agents, objective)
function [partitioning, agents] = partition(obj, agents, objective)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
agents (:, 1) {mustBeA(agents, "cell")};
@@ -6,6 +6,7 @@ function [partitioning] = partition(obj, agents, objective)
end
arguments (Output)
partitioning (:, :) double;
agents (:, 1) cell;
end
nAgents = size(agents, 1);
@@ -18,8 +19,22 @@ function [partitioning] = partition(obj, agents, objective)
% minimum threshold that must be exceeded for any assignment.
agentPerf = zeros(nPoints, nAgents + 1);
for aa = 1:nAgents
p = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)]);
if isa(agents{aa}.sensorModel, "sigmoidSensor")
p = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)]);
elseif isa(agents{aa}.sensorModel, "rfSensor")
otherSensorsIdx = [1:(aa - 1), (aa + 1):size(agents, 1)];
otherSensors = agents(otherSensorsIdx);
otherSensorsPos = cell2mat(cellfun(@(x) x.pos, otherSensors, "UniformOutput", false));
otherSensors = cellfun(@(x) x.sensorModel, otherSensors, "UniformOutput", false);
[p, ~, agents{aa}.sensorModel, otherSensors] = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)], otherSensorsPos, otherSensors);
for k = 1:numel(otherSensorsIdx)
agents{otherSensorsIdx(k)}.sensorModel = otherSensors{k};
end
else
error("?");
end
agentPerf(:, aa) = p(:);
end
agentPerf(:, nAgents + 1) = objective.sensorPerformanceMinimum;
@agent/run.m
+34 -2
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@@ -1,4 +1,4 @@
function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing)
function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing, otherAgents)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
domain (1, 1) {mustBeGeometry};
@@ -9,6 +9,7 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
dampingCoeff (1, 1) double = 2.0;
dt (1, 1) double = 1.0;
optimizeSensorPointing (1, 1) logical = false;
otherAgents (:, 1) cell = cell();
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "agent")};
@@ -33,6 +34,26 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
maskedX = domain.objective.X(partitionMask);
maskedY = domain.objective.Y(partitionMask);
if isa(obj.sensorModel, "rfSensor")
% Extract other agents' sensor models and positions once, outside the delta loop.
% Mask the full-grid RSS caches (filled by partition()) down to this agent's
% partition subset so sensorPerformance can reuse them for all perturbations.
otherSensorsPos = cell2mat(cellfun(@(x) x.pos, otherAgents, "UniformOutput", false));
otherSensors = cellfun(@(x) x.sensorModel, otherAgents, "UniformOutput", false);
partitionIndices = find(partitionMask);
for kk = 1:numel(otherSensors)
if ~isempty(otherSensors{kk}.rssCache)
otherSensors{kk}.rssCache = otherSensors{kk}.rssCache(partitionIndices);
end
end
% Pre-mask this agent's own full-grid cache to the partition subset.
% Used for ii==1 (current position, no perturbation) to avoid recomputing.
baseSensorModel = obj.sensorModel;
if ~isempty(obj.sensorModel.rssCache)
baseSensorModel.rssCache = obj.sensorModel.rssCache(partitionIndices);
end
end
if optimizeSensorPointing
% Stash actual current sensor model tilt/azimuth before messing with it
% in these following hypotheticals
@@ -58,7 +79,18 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
end
% Compute performance values on partition
sensorValues = obj.sensorModel.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
if isa(obj.sensorModel, "sigmoidSensor")
sensorValues = obj.sensorModel.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
elseif isa(obj.sensorModel, "rfSensor")
if ii == 1
sensorModelForDelta = baseSensorModel; % reuse partition-step cache; no recompute needed
else
sensorModelForDelta = obj.sensorModel.clearRssCache;
end
[sensorValues, ~, ~, ~] = sensorModelForDelta.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))], otherSensorsPos, otherSensors);
else
error("?");
end
% Rearrange data into image arrays
F = NaN(size(partitionMask));
@miSim/run.m
+9 -2
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@@ -25,9 +25,16 @@ 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
@@ -42,7 +49,7 @@ 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.useDoubleIntegrator, obj.dampingCoeff, obj.timestep, obj.optimizeSensorPointing);
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
@miSim/writeInits.m
+36 -5
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@@ -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, ...
@rfSensor/RSS.m
+18 -9
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@@ -1,15 +1,24 @@
function value = RSS(obj, d, t, a)
function value = RSS(obj, d, dx, dy, dz)
arguments (Input)
obj (1, 1) {mustBeA(obj, "rfSensor")};
d (:, 1) double; % distance from agent to target
t (:, 1) double; % LOS tilt angle
a (:, 1) double; % LOS azimuth angle
d (:, 1) double;
dx (:, 1) double;
dy (:, 1) double;
dz (:, 1) double;
end
arguments (Output)
value (:, 1) double
end
assert(size(d, 1) == size(t, 1), "Mismatch in number of distances (%d) and tilts (%d) provided", size(d, 1), size(t, 1));
% RSS (dBm) = TX Power (dBm) + TX Antenna Gain (dBi) + RX Antenna Gain (dBi) - Path Loss (dB)
value = obj.P_TX_dBm + obj.transmitterGain(t, a) + obj.G_RX_dBi - obj.pathLoss(d);
end
% Boresight unit vector: [st*sa, st*ca, -ct]
% Target direction unit vector: [dx, dy, dz] / d
% cos_theta = dot product of the two, computed without per-point trig.
st = sind(obj.tilt);
ct = cosd(obj.tilt);
sa = sind(obj.azimuth);
ca = cosd(obj.azimuth);
cos_theta = (st .* (dx .* sa + dy .* ca) - ct .* dz) ./ max(d, eps);
cos_theta = max(-1, min(1, cos_theta));
theta = acosd(cos_theta);
gain = 10 .* obj.beamwidthExponent .* log10((1 + cosd(theta)) ./ 2);
value = obj.P_TX_dBm + gain + obj.G_RX_dBi - obj.pathLoss(d);
end
@rfSensor/computePointToPoints.m
+6 -24
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@@ -1,24 +1,6 @@
function [d, t, a] = computePointToPoints(obj, agentPos, targetPos)
arguments (Input)
obj (1, 1) {mustBeA(obj, "rfSensor")};
agentPos (1, 3) double;
targetPos (:, 3) double;
end
arguments (Output)
d (:, 1) double;
t (:, 1) double;
a (:, 1) double;
end
% distance from sensor to target
d = vecnorm(agentPos - targetPos, 2, 2);
% distance from sensor nadir to target nadir (i.e. distance ignoring altitude)
x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2);
% tilt angle (degrees) (0 (nadir), 180 (zenith))
t = (180 - atan2d(x, targetPos(:, 3) - agentPos(3)));
% azimuth angle (degrees) (0 (+y) clockwise to 360)
a = mod(atan2d(targetPos(:,1) - agentPos(1), targetPos(:,2) - agentPos(2)), 360);
end
function [d, dx, dy, dz] = computePointToPoints(~, agentPos, targetPos)
dx = targetPos(:,1) - agentPos(1);
dy = targetPos(:,2) - agentPos(2);
dz = targetPos(:,3) - agentPos(3);
d = sqrt(dx.^2 + dy.^2 + dz.^2);
end
@rfSensor/rfSensor.m
+3 -3
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@@ -15,17 +15,17 @@ classdef rfSensor
P_TX_dBm = NaN; % Transmit power (dBm)
N = NaN; % Thermal noise
% Cached state (per timestep)
rssCache (:,1) double = double.empty(0,1); % linear-scale RSS to last ground targets grid
end
properties (Access = public)
tilt = NaN; % Antenna boresight tilt (deg): 0=nadir, 90=horizon
azimuth = NaN; % Antenna boresight azimuth (deg): 0=+y, 90=+x, 180=-y, 270=-x
rssCache (:,1) double = double.empty(0,1); % linear-scale RSS to last ground targets grid
end
methods (Access = public)
[obj] = initialize(obj, txPower, bandwidth, centerFreq, rxGain, beamwidthExponent, tilt, azimuth); % initialize sensor, define parameters
[SINR, SNR, obj, otherSensors] = sensorPerformance(obj, agentPos, targetPos, otherSensorsPos, otherSensors); % determine sensor performance for a given single sensor and target geometry
[d, t, a] = computePointToPoints(obj, agentPos, targetPos);
[d, dx, dy, dz] = computePointToPoints(obj, agentPos, targetPos);
[value] = halfAngle(obj); % tilt angle (deg) at which sensor performance is halved
[f] = plotParameters(obj); % debug, plot sensor response as a function of distance and tilt angle
[f] = plotPerformance(obj, altitude, otherSensorsPos, otherSensors); % debug, plot SNR or SINR ground heatmap for a given geometry
@@ -33,7 +33,7 @@ classdef rfSensor
obj = clearRssCache(obj);
end
methods (Access = private)
x = RSS(obj, d, t, a); % Received signal strength (function of distance and tilt angle)
x = RSS(obj, d, dx, dy, dz); % Received signal strength (function of distance and tilt angle)
G_TX_dB = transmitterGain(obj, t, a); % Antenna gain for a given TX/RX pair
L_FSPL_dB = pathLoss(obj, d); % Free space path loss for a given TX/RX pair
end
@rfSensor/sensorPerformance.m
+6 -7
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@@ -14,22 +14,21 @@ function [SINR, SNR, obj, otherSensors] = sensorPerformance(obj, agentPos, targe
end
assert(size(otherSensorsPos, 1) == size(otherSensors, 1), "Mismatch in number of other sensor positions (%d) and number of other sensors (%d) provided", size(otherSensorsPos, 1), size(otherSensors, 1));
[d, t, a] = obj.computePointToPoints(agentPos, targetPos);
if isempty(obj.rssCache)
obj.rssCache = 1e-3 .* 10 .^ (0.1 .* obj.RSS(d, t, a)); % dBm → W
[d, dx, dy, dz] = obj.computePointToPoints(agentPos, targetPos);
obj.rssCache = 1e-3 .* 10 .^ (0.1 .* obj.RSS(d, dx, dy, dz)); % dBm → W
end
S = obj.rssCache;
I = zeros(size(d));
I = zeros(size(S));
for ii = 1:size(otherSensors, 1)
if isempty(otherSensors{ii}.rssCache)
[d_other, t_other, a_other] = otherSensors{ii}.computePointToPoints(otherSensorsPos(ii, 1:3), targetPos);
otherSensors{ii}.rssCache = 1e-3 .* 10 .^ (0.1 .* otherSensors{ii}.RSS(d_other, t_other, a_other)); % dBm → W
[d_o, dx_o, dy_o, dz_o] = otherSensors{ii}.computePointToPoints(otherSensorsPos(ii, 1:3), targetPos);
otherSensors{ii}.rssCache = 1e-3 .* 10 .^ (0.1 .* otherSensors{ii}.RSS(d_o, dx_o, dy_o, dz_o)); % dBm → W
end
I = I + otherSensors{ii}.rssCache;
end
SINR = 10*log10(S ./ (I + obj.N));
SNR = 10*log10(S ./ obj.N);
SNR = 10*log10(S ./ obj.N);
end
resources/project/MoO8eFA7MNcwhsnIRzm_IDZfmpg/3zY8iV4IlWXtpru_5KSo-mgBjoEd.xml
+6
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@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info>
<Category UUID="FileClassCategory">
<Label UUID="design"/>
</Category>
</Info>
resources/project/MoO8eFA7MNcwhsnIRzm_IDZfmpg/3zY8iV4IlWXtpru_5KSo-mgBjoEp.xml
+2
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="plot.m" type="File"/>
test/test_miSim.m
+172 -30
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@@ -44,6 +44,8 @@ classdef test_miSim < matlab.unittest.TestCase
collisionRanges = NaN;
% Sensing
sensor = sigmoidSensor;
% sigmoidSensor
betaDistMin = 3;
betaDistMax = 15;
betaTiltMin = 3;
@@ -52,7 +54,15 @@ classdef test_miSim < matlab.unittest.TestCase
alphaDistMax = 3;
alphaTiltMin = 15; % degrees
alphaTiltMax = 30; % degrees
sensor = sigmoidSensor;
opticalPartitioningMin = 1e-6;
% rfSensor
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 3e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
beamwidthExponent = 16;
lossExponent = 2;
sinrPartitioningMin = 50;
% Communications
useFixedTopology = false;
@@ -231,6 +241,154 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
end
function miSim_run_rf_sensor(tc)
% randomly create obstacles
nGeom = tc.minNumObstacles + randi(tc.maxNumObstacles - tc.minNumObstacles);
tc.obstacles = cell(nGeom, 1);
% Iterate over obstacles to initialize
for ii = 1:size(tc.obstacles, 1)
badCandidate = true;
while badCandidate
% Instantiate a rectangular prism obstacle inside the domain
tc.obstacles{ii} = rectangularPrism;
tc.obstacles{ii} = tc.obstacles{ii}.initializeRandom(REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii), tc.minObstacleSize, tc.maxObstacleSize, tc.domain, tc.minAlt);
% Check if the obstacle collides with an existing obstacle
if ~tc.obstacleCollisionCheck(tc.obstacles(1:(ii - 1)), tc.obstacles{ii})
badCandidate = false;
end
end
end
% Add agents individually, ensuring that each addition does not
% invalidate the initialization setup
for ii = 1:size(tc.agents, 1)
initInvalid = true;
while initInvalid
candidatePos = [tc.domain.objective.groundPos, 0];
% Generate a random position for the agent based on
% existing agent positions
if ii == 1
while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
candidatePos = tc.domain.random();
candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, tc.minAlt + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing
end
else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.commsRanges(ii)/sqrt(2));
candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, tc.minAlt + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing
end
% Make sure that the candidate position is within the
% domain
if ~tc.domain.contains(candidatePos)
continue;
end
% Make sure that the candidate position does not crowd
% the sensing objective and create boring scenarios
if agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
continue;
end
% Make sure that there exist unobstructed lines of sight at
% appropriate ranges to form a connected communications
% graph between the agents
connections = false(1, ii - 1);
for jj = 1:(ii - 1)
if norm(tc.agents{jj}.pos - candidatePos) <= min(tc.commsRanges([ii, jj]))
% Check new agent position against all existing
% agent positions for communications range
connections(jj) = true;
for kk = 1:size(tc.obstacles, 1)
if tc.obstacles{kk}.containsLine(tc.agents{jj}.pos, candidatePos)
connections(jj) = false;
end
end
end
end
% New agent must be connected to an existing agent to
% be valid
if ii ~= 1 && ~any(connections)
continue;
end
% Initialize candidate agent collision geometry
% candidateGeometry = rectangularPrism;
% candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION);
candidateGeometry = spherical;
candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION);
% Initialize candidate agent sensor model
tc.sensor = rfSensor;
tilt = 0; azimuth = 0;
tc.sensor = tc.sensor.initialize(tc.P_TX * 1 + rand * 4, tc.BW, tc.f_c, tc.G_RX_dBi, tc.beamwidthExponent + randi(100), tilt, azimuth, tc.lossExponent);
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Make sure candidate agent doesn't collide with
% domain
violation = false;
for jj = 1:size(newAgent.collisionGeometry.vertices, 1)
% Check if collision geometry exits domain
if ~tc.domain.contains(newAgent.collisionGeometry.vertices(jj, 1:3))
violation = true;
break;
end
end
if violation
continue;
end
% Make sure candidate doesn't collide with obstacles
violation = false;
for kk = 1:size(tc.obstacles, 1)
if geometryIntersects(tc.obstacles{kk}, newAgent.collisionGeometry)
violation = true;
break;
end
end
if violation
continue;
end
% Make sure candidate doesn't collide with existing
% agents
violation = false;
for kk = 1:(ii - 1)
if geometryIntersects(tc.agents{kk}.collisionGeometry, newAgent.collisionGeometry)
violation = true;
break;
end
end
% Make sure candidate clears domain floor
if newAgent.pos(3) - newAgent.collisionGeometry.radius <= tc.minAlt
violation = true;
end
if violation
continue;
end
% Candidate agent is valid, store to pass in to sim
initInvalid = false;
tc.agents{ii} = newAgent;
end
end
% Initialize the simulation
tc.optimizeSensorPointing = true;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Write out initialization state
tc.testClass.writeInits();
% Run simulation loop
tc.testClass = tc.testClass.run();
end
function miSim_run(tc)
% randomly create obstacles
nGeom = tc.minNumObstacles + randi(tc.maxNumObstacles - tc.minNumObstacles);
@@ -439,7 +597,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
@@ -466,7 +624,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
@@ -493,24 +651,15 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
minimumSINR = 50; % (dB)
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, minimumSINR, [7, 6]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.sinrPartitioningMin, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
beamwidthExponent = 6;
lossExponent = 2;
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, beamwidthExponent, 45, 45, lossExponent);
tc.sensor = tc.sensor.initialize(tc.P_TX, tc.BW, tc.f_c, tc.G_RX_dBi, tc.beamwidthExponent, 45, 45, tc.lossExponent);
% Initialize agents
tc.maxIter = 75;
@@ -530,7 +679,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
@@ -558,24 +707,17 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
minimumSINR = 50; % (dB)
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, minimumSINR, [7, 6]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.sinrPartitioningMin, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
beamwidthExponent = 6;
lossExponent = 2;
% Initialize agent sensor model
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, beamwidthExponent, 0, 0, lossExponent);
tc.sensor = tc.sensor.initialize(tc.P_TX, tc.BW, tc.f_c, tc.G_RX_dBi, tc.beamwidthExponent, 0, 0, tc.lossExponent);
% Initialize agents
tc.maxIter = 75;
@@ -599,7 +741,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [3, 7]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [3, 7]);
% Initialize agent collision geometry
tc.agents = {agent; agent};
@@ -637,7 +779,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5.2195]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [8, 5.2195]);
% Initialize agent collision geometry
tc.agents = {agent; agent;};
@@ -721,7 +863,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [8, 5]);
% Initialize agent collision geometry
tc.agents = {agent; agent;};
@@ -766,7 +908,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [8, 5]);
% Initialize agent collision geometry
tc.agents = {agent; agent; agent; agent; agent;};
@@ -816,7 +958,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, tc.opticalPartitioningMin, [8, 5]);
% Initialize agent collision geometry
tc.agents = {agent; agent; agent; agent; agent; agent; agent;};