diff --git a/@miSim/initialize.m b/@miSim/initialize.m
index 1669885..4f93527 100644
--- a/@miSim/initialize.m
+++ b/@miSim/initialize.m
@@ -1,4 +1,4 @@
-function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
+function obj = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
         domain (1, 1) {mustBeGeometry};
@@ -11,7 +11,6 @@ function [obj, f] = initialize(obj, domain, objective, agents, timestep, partito
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
     % Define simulation time parameters
@@ -38,5 +37,5 @@ function [obj, f] = initialize(obj, domain, objective, agents, timestep, partito
     obj = obj.partition();
 
     % Set up plots showing initialized state
-    [obj, f] = obj.plot();
+    obj = obj.plot();
 end
\ No newline at end of file
diff --git a/@miSim/miSim.m b/@miSim/miSim.m
index dc5387e..29bef49 100644
--- a/@miSim/miSim.m
+++ b/@miSim/miSim.m
@@ -13,14 +13,19 @@ classdef miSim
         adjacency = NaN; % Adjacency matrix representing communications network graph
         sensorPerformanceMinimum = 1e-6; % minimum sensor performance to allow assignment of a point in the domain to a partition
         partitioning = NaN;
+        performance = NaN; % current cumulative sensor performance
     end
 
     properties (Access = private)
         % Plot objects
+        f = firstPlotSetup(); % main plotting tiled layout figure
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot
 
+        fPerf = figure; % performance plot figure
+        performancePlot; % objects for sensor performance plot
+
         % Indicies for various plot types in the main tiled layout figure
         spatialPlotIndices = [6, 4, 3, 2];
         objectivePlotIndices = [6, 4];
@@ -29,15 +34,15 @@ classdef miSim
     end
 
     methods (Access = public)
-        [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
-        [obj, f] = run(obj, f);
-        [obj]    = partition(obj);
-        [obj]    = updateAdjacency(obj);
-        [obj, f] = plot(obj);
-        [obj, f] = plotConnections(obj, ind, f);
-        [obj, f] = plotPartitions(obj, ind, f);
-        [obj, f] = plotGraph(obj, ind, f);
-        [obj, f] = updatePlots(obj, f, updatePartitions);
+        [obj] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
+        [obj] = run(obj);
+        [obj] = partition(obj);
+        [obj] = updateAdjacency(obj);
+        [obj] = plot(obj);
+        [obj] = plotConnections(obj);
+        [obj] = plotPartitions(obj);
+        [obj] = plotGraph(obj);
+        [obj] = updatePlots(obj, updatePartitions);
     end
     methods (Access = private)
         [v] = setupVideoWriter(obj);
diff --git a/@miSim/partition.m b/@miSim/partition.m
index 6a2ac30..44782f9 100644
--- a/@miSim/partition.m
+++ b/@miSim/partition.m
@@ -15,6 +15,9 @@ function obj = partition(obj)
     % Get highest performance value at each point
     [~, idx] = max(agentPerformances, [], 3);
 
+    % Current total performance
+    obj.performance = sum(max(agentPerformances(:, :, 1:(end - 1)), [], 3), 'all');
+
     % Collect agent indices in the same way
     agentInds = cellfun(@(x) x.index * ones(size(obj.objective.X)), obj.agents, 'UniformOutput', false);
     agentInds{end + 1} = zeros(size(agentInds{end})); % index for no assignment
diff --git a/@miSim/plot.m b/@miSim/plot.m
index 4fea9fa..07c22dd 100644
--- a/@miSim/plot.m
+++ b/@miSim/plot.m
@@ -1,41 +1,40 @@
-function [obj, f] = plot(obj)
+function obj = plot(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
     % Plot domain
-    [obj.domain, f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
+    [obj.domain, obj.f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
 
     % Plot obstacles
     for ii = 1:size(obj.obstacles, 1)
-        [obj.obstacles{ii}, f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, f);
+        [obj.obstacles{ii}, obj.f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, obj.f);
     end
 
     % Plot objective gradient
-    f = obj.domain.objective.plot(obj.objectivePlotIndices, f);
+    obj.f = obj.domain.objective.plot(obj.objectivePlotIndices, obj.f);
 
     % Plot agents and their collision geometries
     for ii = 1:size(obj.agents, 1)
-        [obj.agents{ii}, f] = obj.agents{ii}.plot(obj.spatialPlotIndices, f);
+        [obj.agents{ii}, obj.f] = obj.agents{ii}.plot(obj.spatialPlotIndices, obj.f);
     end
 
     % Plot communication links
-    [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
+    obj = obj.plotConnections();
 
     % Plot abstract network graph
-    [obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
+    obj = obj.plotGraph();
 
     % Plot domain partitioning
-    [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
+    obj = obj.plotPartitions();
 
     % Enforce plot limits
     for ii = 1:size(obj.spatialPlotIndices, 2)
-        xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
-        ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
-        zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+        xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+        ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+        zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
     end
 end
\ No newline at end of file
diff --git a/@miSim/plotConnections.m b/@miSim/plotConnections.m
index 7321a22..8a33a89 100644
--- a/@miSim/plotConnections.m
+++ b/@miSim/plotConnections.m
@@ -1,12 +1,9 @@
-function [obj, f] = plotConnections(obj, ind, f)
+function obj = plotConnections(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        ind (1, :) double = NaN;
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
     % Iterate over lower triangle off-diagonal region of the 
@@ -24,20 +21,20 @@ function [obj, f] = plotConnections(obj, ind, f)
     X = X'; Y = Y'; Z = Z';
 
     % Plot the connections
-    if isnan(ind)
-        hold(f.CurrentAxes, "on");
-        o = plot3(f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
-        hold(f.CurrentAxes, "off");
+    if isnan(obj.spatialPlotIndices)
+        hold(obj.f.CurrentAxes, "on");
+        o = plot3(obj.f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+        hold(obj.f.CurrentAxes, "off");
     else
-        hold(f.Children(1).Children(ind(1)), "on");
-        o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
-        hold(f.Children(1).Children(ind(1)), "off");
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "on");
+        o = plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "off");
     end
 
     % Copy to other plots
-    if size(ind, 2) > 1
-        for ii = 2:size(ind, 2)
-            o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+    if size(obj.spatialPlotIndices, 2) > 1
+        for ii = 2:size(obj.spatialPlotIndices, 2)
+            o = [o, copyobj(o(:, 1), obj.f.Children(1).Children(obj.spatialPlotIndices(ii)))];
         end 
     end
 
diff --git a/@miSim/plotGraph.m b/@miSim/plotGraph.m
index 6170e91..034a35a 100644
--- a/@miSim/plotGraph.m
+++ b/@miSim/plotGraph.m
@@ -1,29 +1,26 @@
-function [obj, f] = plotGraph(obj, ind, f)
+function obj = plotGraph(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        ind (1, :) double = NaN;
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
     % Form graph from adjacency matrix
     G = graph(obj.adjacency, 'omitselfloops');
 
     % Plot graph object
-    if isnan(ind)
-        hold(f.CurrentAxes, 'on');
-        o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
-        hold(f.CurrentAxes, 'off');
+    if isnan(obj.networkGraphIndex)
+        hold(obj.f.CurrentAxes, 'on');
+        o = plot(obj.f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+        hold(obj.f.CurrentAxes, 'off');
     else
-        hold(f.Children(1).Children(ind(1)), 'on');
-        o = plot(f.Children(1).Children(ind(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
-        hold(f.Children(1).Children(ind(1)), 'off');
-        if size(ind, 2) > 1
+        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'on');
+        o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'off');
+        if size(obj.networkGraphIndex, 2) > 1
             for ii = 2:size(ind, 2)
-                o = [o; copyobj(o(1), f.Children(1).Children(ind(ii)))];
+                o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
             end
         end
     end
diff --git a/@miSim/plotPartitions.m b/@miSim/plotPartitions.m
index d5063b6..350f57c 100644
--- a/@miSim/plotPartitions.m
+++ b/@miSim/plotPartitions.m
@@ -1,25 +1,22 @@
-function [obj, f] = plotPartitions(obj, ind, f)
+function obj = plotPartitions(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        ind (1, :) double = NaN;
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
-    if isnan(ind)
-        hold(f.CurrentAxes, 'on');
-        o = imagesc(f.CurrentAxes, obj.partitioning);
-        hold(f.CurrentAxes, 'off');
+    if isnan(obj.partitionGraphIndex)
+        hold(obj.f.CurrentAxes, 'on');
+        o = imagesc(obj.f.CurrentAxes, obj.partitioning);
+        hold(obj.f.CurrentAxes, 'off');
     else
-        hold(f.Children(1).Children(ind(1)), 'on');
-        o = imagesc(f.Children(1).Children(ind(1)), obj.partitioning);
-        hold(f.Children(1).Children(ind(1)), 'on');
-        if size(ind, 2) > 1
+        hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
+        o = imagesc(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), obj.partitioning);
+        hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
+        if size(obj.partitionGraphIndex, 2) > 1
             for ii = 2:size(ind, 2)
-                o = [o, copyobj(o(1), f.Children(1).Children(ind(ii)))];
+                o = [o, copyobj(o(1), obj.f.Children(1).Children(obj.partitionGraphIndex(ii)))];
             end
         end
     end
diff --git a/@miSim/run.m b/@miSim/run.m
index 9b54400..a15fa7a 100644
--- a/@miSim/run.m
+++ b/@miSim/run.m
@@ -1,16 +1,11 @@
-function [obj, f] = run(obj, f)
+function [obj] = run(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
-    % Create axes if they don't already exist
-    f = firstPlotSetup(f);
-
     % Set up times to iterate over
     times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
     partitioningTimes = times(obj.partitioningFreq:obj.partitioningFreq:size(times, 1));
@@ -37,13 +32,13 @@ function [obj, f] = run(obj, f)
         end
 
         % Update adjacency matrix
-        obj = obj.updateAdjacency;
+        obj = obj.updateAdjacency();
 
         % Update plots
-        [obj, f] = obj.updatePlots(f, updatePartitions);
+        obj = obj.updatePlots(updatePartitions);
 
         % Write frame in to video
-        I = getframe(f);
+        I = getframe(obj.f);
         v.writeVideo(I);
     end
 
diff --git a/@miSim/updatePlots.m b/@miSim/updatePlots.m
index 3ce6419..ef9c596 100644
--- a/@miSim/updatePlots.m
+++ b/@miSim/updatePlots.m
@@ -1,12 +1,10 @@
-function [obj, f] = updatePlots(obj, f, updatePartitions)
+function [obj] = updatePlots(obj, updatePartitions)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
         updatePartitions (1, 1) logical = false;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
-        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
     end
 
     % Update agent positions, collision geometries
@@ -20,23 +18,23 @@ function [obj, f] = updatePlots(obj, f, updatePartitions)
 
     % Update agent connections plot
     delete(obj.connectionsPlot);
-    [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
+    obj = obj.plotConnections();
 
     % Update network graph plot
     delete(obj.graphPlot);
-    [obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
+    obj = obj.plotGraph();
 
     % Update partitioning plot
     if updatePartitions
         delete(obj.partitionPlot);
-        [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
+        obj = obj.plotPartitions();
     end
 
     % reset plot limits to fit domain
     for ii = 1:size(obj.spatialPlotIndices, 2)
-        xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
-        ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
-        zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+        xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+        ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+        zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
     end
 
     drawnow;
diff --git a/test/test_miSim.m b/test/test_miSim.m
index 428e57f..7dc8d25 100644
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -200,7 +200,7 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
         end
         function misim_run(tc)
             % randomly create obstacles
@@ -330,10 +330,10 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
 
             % Run simulation loop
-            [tc.testClass, f] = tc.testClass.run(f);
+            tc.testClass = tc.testClass.run(f);
         end
         function test_basic_partitioning(tc)
             % place agents a fixed distance +/- X from the domain's center
@@ -370,7 +370,7 @@ classdef test_miSim < matlab.unittest.TestCase
             % tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
 
             % Initialize the simulation
-            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
         end
     end