diff --git a/@agent/initialize.m b/@agent/initialize.m
index e067518..756ec3e 100644
--- a/@agent/initialize.m
+++ b/@agent/initialize.m
@@ -1,4 +1,4 @@
-function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug, plotCommsGeometry)
+function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, label, debug, plotCommsGeometry)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'agent')};
         pos (1, 3) double;
@@ -6,12 +6,12 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
         pan (1, 1) double;
         tilt (1, 1) double;
         collisionGeometry (1, 1) {mustBeGeometry};
-        sensorModel (1, 1) {mustBeSensor}
+        sensorModel (1, 1) {mustBeSensor};
         guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
-        comRange (1, 1) double = NaN;
+        comRange (1, 1) double;
         label (1, 1) string = "";
         debug (1, 1) logical = false;
-        plotCommsGeometry (1, 1) logical = true;
+        plotCommsGeometry (1, 1) logical = false;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'agent')};
@@ -28,6 +28,12 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
     obj.debug = debug;
     obj.plotCommsGeometry = plotCommsGeometry;
 
+    if isempty(obj.label)
+        obj.label = sprintf("Agent %d");
+    end
+
+
+
     % Add spherical geometry based on com range
     obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));
 
diff --git a/@miSim/initialize.m b/@miSim/initialize.m
index cd62a73..67a480c 100644
--- a/@miSim/initialize.m
+++ b/@miSim/initialize.m
@@ -52,6 +52,11 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
     % Define agents
     obj.agents = agents;
     obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
+    for ii = 1:size(obj.agents, 1)
+        if isempty(char(obj.agents{ii}.label))
+            obj.agents{ii}.label = sprintf("Agent %d", ii);
+        end
+    end
 
     % Compute adjacency matrix and lesser neighbors
     obj = obj.updateAdjacency();
diff --git a/test/test_miSim.m b/test/test_miSim.m
index c2968a5..e96052e 100644
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -162,7 +162,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, sprintf("Agent %d", ii)); 
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange); 
 
                     % Make sure candidate agent doesn't collide with
                     % domain
@@ -296,7 +296,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, sprintf("Agent %d", ii), false, false);
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange);
                     
                     % Make sure candidate agent doesn't collide with
                     % domain
@@ -378,14 +378,14 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent; agent};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 1));
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 2));
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d);
 
             % Optional third agent along the +Y axis
             geometry3 = rectangularPrism;
             geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
             tc.agents{3} = agent;
-            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 3));
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d);
 
             % Initialize the simulation
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -415,7 +415,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent};
-            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1));
+            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3);
 
             % Initialize the simulation
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -445,7 +445,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent};
-            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1), true);
+            tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, "", true);
 
             % Initialize the simulation
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -481,8 +481,8 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent; agent};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1), false);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, sprintf("Agent %d", 2), false);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3);
 
             % Initialize the simulation
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo, tc.makePlots);
@@ -516,8 +516,8 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10, sprintf("Agent %d", 1), false, false);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10, sprintf("Agent %d", 2), false, false);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10);
             
             % Initialize obstacles
             obstacleLength = 1;
@@ -557,8 +557,8 @@ classdef test_miSim < matlab.unittest.TestCase
             % Initialize agents
             commsRadius = 5;
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 1), false);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 2), false);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
             
             % Initialize obstacles
             obstacleLength = 1.5;
@@ -605,14 +605,14 @@ classdef test_miSim < matlab.unittest.TestCase
             % Initialize agents
             commsRadius = d;
             tc.agents = {agent; agent; agent; agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 1), false);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 2), false);
-            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 3), false);
-            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 4), false);
-            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 5), false);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius);
+            tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius);
+            tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius);
 
             % TODO
-            % make agent label and ID optional, they can be derived from index
+            % make agent label optional, can be derived from index
             % Consider how to do the same for collision geometry label
             % make @gradientAscent always the choice
             % Build collision geometry initialization into agent initialization?