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added sensor pointing by gradient ascent

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Kevin Dee
2026-05-07 09:04:52 -07:00
parent 740b42eba4
commit b44df40c7e
17 changed files with 296 additions and 148 deletions
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@miSim/initialize.m
+3 -1
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@@ -1,4 +1,4 @@
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology, optimizeSensorPointing)
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
@@ -14,6 +14,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
useDoubleIntegrator (1, 1) logical = false;
dampingCoeff (1, 1) double = 2.0;
useFixedTopology (1, 1) logical = false;
optimizeSensorPointing (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "miSim")};
@@ -93,6 +94,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.useDoubleIntegrator = useDoubleIntegrator;
obj.dampingCoeff = dampingCoeff;
obj.useFixedTopology = useFixedTopology;
obj.optimizeSensorPointing = optimizeSensorPointing;
% Compute adjacency matrix and network topology
obj = obj.updateAdjacency();
@miSim/miSim.m
+1
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@@ -20,6 +20,7 @@ classdef miSim
useDoubleIntegrator = false; % false = single-integrator, true = double-integrator dynamics
dampingCoeff = 2.0; % velocity-proportional damping for double-integrator mode
useFixedTopology = false; % false = lesser neighbor (dynamic), true = fixed initial topology
optimizeSensorPointing = false; % false = fixed sensor tilt/azimuth, true = optimize tilt/azimuth via gradient ascent
artifactName = "";
f; % main plotting tiled layout figure
fPerf; % performance plot figure
@miSim/run.m
+1 -1
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@@ -42,7 +42,7 @@ 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.agents, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep);
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep, obj.optimizeSensorPointing);
end
% Adjust motion determined by unconstrained gradient ascent using