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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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@miSim/run.m
+9 -2
View File
@@ -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
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, ...