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fixed multi-objective support, collected sim data on 3 new experiments

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Kevin Dee
2026-05-24 20:28:12 -07:00
parent fbcaa32abd
commit 9c65bf7880
7 changed files with 23 additions and 5 deletions
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aerpaw/config/scenario.csv
+1 -1
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@@ -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, useFixedTopology
1, 100, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 80.0", "0.25, 0.25", "8.0, 8.0", "0.1, 0.1", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "66.6, 66.6", "55, 35, 35, 55", 0.15, "15.0, 15.0, 50.0, 40.0, 15.0, 50.0", 1, "0.0, 35.0, 0.0", "50, 40.0, 60", 1, 2.0, 1
1, 50, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "10.0, 10.0, 50.0, 40.0, 15.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1
1 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
2 1 100 50 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 80.0 80.0, 50.0 0.25, 0.25 0.25, 1.0 8.0, 8.0 8.0, 25.0 0.1, 0.1 0.1, 0.02 0.0, 0.0, 0.0 100.0, 100.0, 100.0 66.6, 66.6 60.0, 80.0, 45.0, 70.0 55, 35, 35, 55 70, 15, 15, 20, 20, 15, 15, 70 0.15 15.0, 15.0, 50.0, 40.0, 15.0, 50.0 10.0, 10.0, 50.0, 40.0, 15.0, 45.0 1 8 0.0, 35.0, 0.0 0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0 50, 40.0, 60 16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0 1 0 2.0 1
aerpaw/config/scenario_columns.csv
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@@ -0,0 +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, useFixedTopology
1, 50, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "10.0, 10.0, 50.0, 40.0, 15.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1
1 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
2 1 50 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 50.0 0.25, 1.0 8.0, 25.0 0.1, 0.02 0.0, 0.0, 0.0 100.0, 100.0, 100.0 60.0, 80.0, 45.0, 70.0 70, 15, 15, 20, 20, 15, 15, 70 0.15 10.0, 10.0, 50.0, 40.0, 15.0, 45.0 8 0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0 16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0 0 2.0 1
aerpaw/config/scenario_lock.csv
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@@ -0,0 +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, useFixedTopology
1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "65.0, 15.0, 65.0, 65.0, 15.0, 45.0", 3, "0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0", "100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0", 0, 2.0, 1
1 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
2 1 65 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 50.0 0.25, 1.0 8.0, 25.0 0.1, 0.02 0.0, 0.0, 0.0 100.0, 100.0, 100.0 30.0, 80.0 60, 20, 20, 30 0.15 65.0, 15.0, 65.0, 65.0, 15.0, 45.0 3 0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0 100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0 0 2.0 1
aerpaw/config/scenario_two_around_wall.csv
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@@ -0,0 +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, useFixedTopology
1, 100, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 80.0", "0.25, 0.25", "8.0, 8.0", "0.1, 0.1", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "66.6, 66.6", "55, 35, 35, 55", 0.15, "15.0, 15.0, 50.0, 40.0, 15.0, 50.0", 1, "0.0, 35.0, 0.0", "50, 40.0, 60", 1, 2.0, 1
1 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
2 1 100 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 80.0 0.25, 0.25 8.0, 8.0 0.1, 0.1 0.0, 0.0, 0.0 100.0, 100.0, 100.0 66.6, 66.6 55, 35, 35, 55 0.15 15.0, 15.0, 50.0, 40.0, 15.0, 50.0 1 0.0, 35.0, 0.0 50, 40.0, 60 1 2.0 1
aerpaw/config/scenario_walls.csv
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@@ -0,0 +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, useFixedTopology
1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "90.0, 10.0, 50.0, 65.0, 15.0, 45.0", 4, "0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0", "50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0", 0, 2.0, 1
1 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
2 1 65 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 50.0 0.25, 1.0 8.0, 25.0 0.1, 0.02 0.0, 0.0, 0.0 100.0, 100.0, 100.0 30.0, 80.0 60, 20, 20, 30 0.15 90.0, 10.0, 50.0, 65.0, 15.0, 45.0 4 0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0 50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0 0 2.0 1
test/parametricTestSuite.m
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@@ -34,9 +34,15 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Define scenario according to CSV specification
tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
objectiveSigma = reshape(params.objectiveVar, [1 2 2]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, params.objectivePos, objectiveSigma);
if length(params.objectiveVar) > 4 && length(params.objectivePos) > 2
objectiveSigma = permute(reshape(params.objectiveVar, [length(params.objectiveVar)/4 2 2]), [3 1 2]);
objectivePos = reshape(params.objectivePos, [length(params.objectivePos)/2, 2])';
else
objectiveSigma = reshape(params.objectiveVar, [1, 2, 2]);
objectivePos = params.objectivePos;
end
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, objectivePos, objectiveSigma);
agents = cell(size(params.initialPositions, 2) / 3, 1);
for ii = 1:size(agents, 1)
agents{ii} = agent;
util/objectiveFunctionWrapper.m
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@@ -4,12 +4,16 @@ function f = objectiveFunctionWrapper(center, sigma)
% composite objectives in particular
arguments (Input)
center (:, 2) double;
sigma (:, 2, 2) double = eye(2);
sigma (:, 2, 2) double = reshape(eye(2), 1, 2, 2);
end
arguments (Output)
f (1, 1) {mustBeA(f, "function_handle")};
end
if size(sigma, 1) == 1 && size(center, 1) > 1
sigma = repmat(sigma, size(center, 1), 1, 1);
end
assert(size(center, 1) == size(sigma, 1));
f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), squeeze(sigma(i, :, :))), 1:size(center,1), "UniformOutput", false)), 2);
end