From c3fa1de914e51303366f63df0abaa1194f5cefff Mon Sep 17 00:00:00 2001 From: Kevin D Date: Tue, 31 Mar 2026 21:18:02 -0700 Subject: [PATCH] included features from SPAWC 2026 branch --- .gitignore | 1 + @agent/initialize.m | 3 ++- @agent/run.m | 9 ++++++-- @miSim/constrainMotion.m | 26 +++++++++++----------- @miSim/initialize.m | 6 +++++ @miSim/miSim.m | 3 +-- @miSim/run.m | 5 +++++ @miSim/teardown.m | 3 ++- @miSim/validate.m | 7 +++--- @miSim/writeInits.m | 6 ++++- @sensingObjective/initialize.m | 17 +++++++++----- @sensingObjective/initializeRandomMvnpdf.m | 2 +- @sensingObjective/sensingObjective.m | 3 ++- aerpaw/config/scenario.csv | 2 +- test/parametricTestSuite.m | 2 +- util/objectiveFunctionWrapper.m | 6 ++--- 16 files changed, 65 insertions(+), 36 deletions(-) diff --git a/.gitignore b/.gitignore index eb7331c..1fd7ddb 100644 --- a/.gitignore +++ b/.gitignore @@ -48,6 +48,7 @@ sandbox/* # Figures *.fig +*.png # Python Virtual Environment aerpaw/venv/ diff --git a/@agent/initialize.m b/@agent/initialize.m index 84b2f8d..b74a926 100644 --- a/@agent/initialize.m +++ b/@agent/initialize.m @@ -15,6 +15,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma end obj.pos = pos; + obj.lastPos = pos; obj.vel = zeros(1, 3); obj.lastVel = zeros(1, 3); obj.collisionGeometry = collisionGeometry; @@ -35,4 +36,4 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma % Initialize FOV cone obj.fovGeometry = cone; obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label)); -end \ No newline at end of file +end diff --git a/@agent/run.m b/@agent/run.m index 9f818be..340b4cf 100644 --- a/@agent/run.m +++ b/@agent/run.m @@ -14,6 +14,13 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents, useD obj (1, 1) {mustBeA(obj, "agent")}; end + % Always update lastPos/lastVel so constrainMotion evaluates barriers at + % the correct (most recent) position, even when this agent has no partition. + obj.lastPos = obj.pos; + if useDoubleIntegrator + obj.lastVel = obj.vel; + end + % Collect objective function values across partition partitionMask = partitioning == index; if ~any(partitionMask(:)) @@ -79,10 +86,8 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents, useD gradNorm = norm(gradC); % Compute unconstrained next state - obj.lastPos = obj.pos; if useDoubleIntegrator % Double-integrator: gradient produces desired acceleration with damping - obj.lastVel = obj.vel; if gradNorm < 1e-100 a_gradient = zeros(1, 3); else diff --git a/@miSim/constrainMotion.m b/@miSim/constrainMotion.m index 8992d12..c3e5b1c 100644 --- a/@miSim/constrainMotion.m +++ b/@miSim/constrainMotion.m @@ -39,10 +39,10 @@ function [obj] = constrainMotion(obj) h(logical(eye(nAgents))) = 0; % self value is 0 for ii = 1:(nAgents - 1) for jj = (ii + 1):nAgents - h(ii, jj) = norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2 - (obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius)^2; + h(ii, jj) = norm(obj.agents{ii}.lastPos - obj.agents{jj}.lastPos)^2 - (obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius)^2; h(jj, ii) = h(ii, jj); - A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.pos - obj.agents{jj}.pos); + A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.lastPos - obj.agents{jj}.lastPos); A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii)); % Slack derived from existing params: recovery velocity = max gradient approach velocity. % Correction splits between 2 agents, so |A| = 2*r_sum @@ -69,11 +69,11 @@ function [obj] = constrainMotion(obj) for ii = 1:nAgents for jj = 1:size(obj.obstacles, 1) % find closest position to agent on/in obstacle - cPos = obj.obstacles{jj}.closestToPoint(obj.agents{ii}.pos); + cPos = obj.obstacles{jj}.closestToPoint(obj.agents{ii}.lastPos); - hObs(ii, jj) = dot(obj.agents{ii}.pos - cPos, obj.agents{ii}.pos - cPos) - obj.agents{ii}.collisionGeometry.radius^2; + hObs(ii, jj) = dot(obj.agents{ii}.lastPos - cPos, obj.agents{ii}.lastPos - cPos) - obj.agents{ii}.collisionGeometry.radius^2; - A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.pos - cPos); + A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.lastPos - cPos); % Floor for single-agent constraint: full correction on one agent, |A| = 2*r_i r_i = obj.agents{ii}.collisionGeometry.radius; v_max_i = obj.agents{ii}.initialStepSize / obj.timestep; @@ -93,37 +93,37 @@ function [obj] = constrainMotion(obj) h_xMin = 0.0; h_xMax = 0.0; h_yMin = 0.0; h_yMax = 0.0; h_zMin = 0.0; h_zMax = 0.0; for ii = 1:nAgents % X minimum - h_xMin = (obj.agents{ii}.pos(1) - obj.domain.minCorner(1)) - obj.agents{ii}.collisionGeometry.radius; + h_xMin = (obj.agents{ii}.lastPos(1) - obj.domain.minCorner(1)) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [-1, 0, 0]; b(kk) = obj.barrierGain * max(0, h_xMin)^obj.barrierExponent; kk = kk + 1; % X maximum - h_xMax = (obj.domain.maxCorner(1) - obj.agents{ii}.pos(1)) - obj.agents{ii}.collisionGeometry.radius; + h_xMax = (obj.domain.maxCorner(1) - obj.agents{ii}.lastPos(1)) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [1, 0, 0]; b(kk) = obj.barrierGain * max(0, h_xMax)^obj.barrierExponent; kk = kk + 1; % Y minimum - h_yMin = (obj.agents{ii}.pos(2) - obj.domain.minCorner(2)) - obj.agents{ii}.collisionGeometry.radius; + h_yMin = (obj.agents{ii}.lastPos(2) - obj.domain.minCorner(2)) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [0, -1, 0]; b(kk) = obj.barrierGain * max(0, h_yMin)^obj.barrierExponent; kk = kk + 1; % Y maximum - h_yMax = (obj.domain.maxCorner(2) - obj.agents{ii}.pos(2)) - obj.agents{ii}.collisionGeometry.radius; + h_yMax = (obj.domain.maxCorner(2) - obj.agents{ii}.lastPos(2)) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [0, 1, 0]; b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent; kk = kk + 1; % Z minimum — enforce z >= minAlt + radius (not just z >= domain floor + radius) - h_zMin = (obj.agents{ii}.pos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius; + h_zMin = (obj.agents{ii}.lastPos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1]; b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent; kk = kk + 1; % Z maximum - h_zMax = (obj.domain.maxCorner(3) - obj.agents{ii}.pos(3)) - obj.agents{ii}.collisionGeometry.radius; + h_zMax = (obj.domain.maxCorner(3) - obj.agents{ii}.lastPos(3)) - obj.agents{ii}.collisionGeometry.radius; A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, 1]; b(kk) = obj.barrierGain * max(0, h_zMax)^obj.barrierExponent; kk = kk + 1; @@ -145,9 +145,9 @@ function [obj] = constrainMotion(obj) if obj.constraintAdjacencyMatrix(ii, jj) paddingFactor = 0.9; % Barrier at 90% of actual range; real comms still work beyond this r_comms = paddingFactor * min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius]); - hComms(ii, jj) = r_comms^2 - norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2; + hComms(ii, jj) = r_comms^2 - norm(obj.agents{ii}.lastPos - obj.agents{jj}.lastPos)^2; - A(kk, (3 * ii - 2):(3 * ii)) = 2 * (obj.agents{ii}.pos - obj.agents{jj}.pos); + A(kk, (3 * ii - 2):(3 * ii)) = 2 * (obj.agents{ii}.lastPos - obj.agents{jj}.lastPos); A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii)); % One-step forward invariance: b = h/dt ensures h cannot diff --git a/@miSim/initialize.m b/@miSim/initialize.m index f50798e..e954805 100644 --- a/@miSim/initialize.m +++ b/@miSim/initialize.m @@ -138,6 +138,12 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m % Initialize variable that will store barrier function values per timestep for analysis purposes obj.barriers = NaN(obj.numBarriers, size(obj.times, 1)); + % Initialize constraint adjacency history (nAgents x nAgents x nTimesteps) + nAgents = size(obj.agents, 1); + obj.constraintAdjacencyHist = false(nAgents, nAgents, size(obj.times, 1)); + obj.constraintAdjacencyHist(:, :, 1) = obj.constraintAdjacencyMatrix; + + % Set up plots showing initialized state obj = obj.plot(); diff --git a/@miSim/miSim.m b/@miSim/miSim.m index 3432e90..97ebd97 100644 --- a/@miSim/miSim.m +++ b/@miSim/miSim.m @@ -7,7 +7,6 @@ classdef miSim timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays) maxIter = NaN; % maximum number of simulation iterations domain; - objective; obstacles; % geometries that define obstacles within the domain agents; % agents that move within the domain adjacency = false(0, 0); % Adjacency matrix representing communications network graph @@ -28,6 +27,7 @@ classdef miSim spatialPlotIndices = [6, 4, 3, 2]; numBarriers = 0; % Number of barrier functions needed barriers = []; % log barrier function values at each timestep for analysis + constraintAdjacencyHist = []; % log constraint adjacency matrix at each timestep end properties (Access = private) @@ -67,7 +67,6 @@ classdef miSim obj (1, 1) miSim end obj.domain = rectangularPrism; - obj.objective = sensingObjective; obj.obstacles = {rectangularPrism}; obj.agents = {agent}; end diff --git a/@miSim/run.m b/@miSim/run.m index 5fb8658..3427ae9 100644 --- a/@miSim/run.m +++ b/@miSim/run.m @@ -34,6 +34,11 @@ function [obj] = run(obj) obj = obj.lesserNeighbor(); end + % Log constraint adjacency for this timestep + if coder.target('MATLAB') + obj.constraintAdjacencyHist(:, :, ii) = obj.constraintAdjacencyMatrix; + end + % Moving % Iterate over agents to simulate their unconstrained motion for jj = 1:size(obj.agents, 1) diff --git a/@miSim/teardown.m b/@miSim/teardown.m index f4c26d0..4a78166 100644 --- a/@miSim/teardown.m +++ b/@miSim/teardown.m @@ -20,6 +20,7 @@ function obj = teardown(obj) out.dampingCoeff = obj.dampingCoeff; out.useDoubleIntegrator = obj.useDoubleIntegrator; out.useFixedTopology = obj.useFixedTopology; + out.constraintAdjacency = obj.constraintAdjacencyHist(:, :, 1:(end - 1)); for ii = 1:size(obj.agents, 1) out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3)); out.agent(ii).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3)); @@ -39,11 +40,11 @@ function obj = teardown(obj) obj.timestepIndex = NaN; obj.maxIter = NaN; obj.domain = rectangularPrism; - obj.objective = sensingObjective; obj.obstacles = cell(0, 1); obj.agents = cell(0, 1); obj.adjacency = NaN; obj.constraintAdjacencyMatrix = NaN; + obj.constraintAdjacencyHist = []; obj.partitioning = NaN; obj.performance = 0; obj.barrierGain = NaN; diff --git a/@miSim/validate.m b/@miSim/validate.m index 818a6c0..dba8f6e 100644 --- a/@miSim/validate.m +++ b/@miSim/validate.m @@ -7,11 +7,11 @@ function validate(obj) %% Communications Network Validators if max(conncomp(graph(obj.adjacency))) ~= 1 - warning("Network is not connected"); + error("Network is not connected"); end if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all") - warning("Eliminated network connections that were necessary"); + error("Eliminated network connections that were necessary"); end %% Obstacle Validators @@ -21,9 +21,8 @@ function validate(obj) P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner); d = obj.agents{kk}.pos - P; if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2 - warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail + error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail end end end - end diff --git a/@miSim/writeInits.m b/@miSim/writeInits.m index 4f02b03..56543aa 100644 --- a/@miSim/writeInits.m +++ b/@miSim/writeInits.m @@ -14,6 +14,8 @@ function writeInits(obj) 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)); + obsMinCorners = cell2mat(cellfun(@(x) x.minCorner, obj.obstacles, 'UniformOutput', false)); + obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, obj.obstacles, 'UniformOutput', false)); % Combine with simulation parameters inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ... @@ -24,7 +26,9 @@ function writeInits(obj) "useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, ... "alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ... ... % ^^^ PARAMETERS ^^^ | vvv STATES vvv - "pos", pos); % still needs obstacle states and objective state + "pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ... + "obsMinCorners", obsMinCorners, "obsMaxCorners", obsMaxCorners, ... + "objectiveIntegral", sum(obj.domain.objective.values(:))); % Save all parameters to output file initsFile = strcat(obj.artifactName, "_miSimInits"); diff --git a/@sensingObjective/initialize.m b/@sensingObjective/initialize.m index 8096ba2..690dec4 100644 --- a/@sensingObjective/initialize.m +++ b/@sensingObjective/initialize.m @@ -1,4 +1,4 @@ -function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum) +function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum, objectiveMu, objectiveSigma) arguments (Input) obj (1,1) {mustBeA(obj, "sensingObjective")}; objectiveFunction (1, 1) {mustBeA(objectiveFunction, "function_handle")}; @@ -6,6 +6,8 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr discretizationStep (1, 1) double = 1; protectedRange (1, 1) double = 1; sensorPerformanceMinimum (1, 1) double = 1e-6; + objectiveMu (:, 2) double = NaN(1, 2); + objectiveSigma (:, 2, 2) double = NaN(1, 2, 2); end arguments (Output) obj (1,1) {mustBeA(obj, "sensingObjective")}; @@ -36,9 +38,14 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr obj.values = obj.values ./ max(obj.values, [], "all"); % store ground position - idx = obj.values == 1; - obj.groundPos = [obj.X(idx), obj.Y(idx)]; - obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow) + idx = obj.values == 1; + if any(isnan(objectiveMu)) + obj.groundPos = [obj.X(idx), obj.Y(idx)]; + obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow) + else + obj.groundPos = objectiveMu; + end + obj.objectiveSigma = objectiveSigma; - assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective") + assert(domain.distance([obj.groundPos, ones(size(obj.groundPos, 1), 1) .* domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective"); end \ No newline at end of file diff --git a/@sensingObjective/initializeRandomMvnpdf.m b/@sensingObjective/initializeRandomMvnpdf.m index 6f9b8b7..06494ae 100644 --- a/@sensingObjective/initializeRandomMvnpdf.m +++ b/@sensingObjective/initializeRandomMvnpdf.m @@ -11,7 +11,7 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected % Set random objective position mu = domain.minCorner; - while domain.distance(mu) < protectedRange + while domain.distance(mu) < protectedRange * 1.01 mu = domain.random(); end diff --git a/@sensingObjective/sensingObjective.m b/@sensingObjective/sensingObjective.m index 46b41a8..0444a17 100644 --- a/@sensingObjective/sensingObjective.m +++ b/@sensingObjective/sensingObjective.m @@ -2,7 +2,8 @@ classdef sensingObjective % Sensing objective definition parent class properties (SetAccess = private, GetAccess = public) label = ""; - groundPos = [NaN, NaN]; + groundPos = NaN(1, 2); + objectiveSigma = NaN(1, 2, 2); discretizationStep = NaN; X = []; Y = []; diff --git a/aerpaw/config/scenario.csv b/aerpaw/config/scenario.csv index a79f914..05c1468 100644 --- a/aerpaw/config/scenario.csv +++ b/aerpaw/config/scenario.csv @@ -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 -5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1 \ No newline at end of file +1, 150, 30.0, 0.1, 2.0, 1, 1, 1, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1 \ No newline at end of file diff --git a/test/parametricTestSuite.m b/test/parametricTestSuite.m index d714c0a..aa1078d 100644 --- a/test/parametricTestSuite.m +++ b/test/parametricTestSuite.m @@ -150,7 +150,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase end % randomly shuffle agents to make the network more interesting (probably) - agents = agents(randperm(numel(agents))); + agents = agents(randperm(numel(agents))); % Set up obstacles obstacles = cell(params.numObstacles(ii), 1); diff --git a/util/objectiveFunctionWrapper.m b/util/objectiveFunctionWrapper.m index f0a5963..6846ffe 100644 --- a/util/objectiveFunctionWrapper.m +++ b/util/objectiveFunctionWrapper.m @@ -4,12 +4,12 @@ function f = objectiveFunctionWrapper(center, sigma) % composite objectives in particular arguments (Input) center (:, 2) double; - sigma (2, 2) double = eye(2); + sigma (:, 2, 2) double = eye(2); end arguments (Output) f (1, 1) {mustBeA(f, "function_handle")}; end - f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), sigma), 1:size(center,1), "UniformOutput", false)), 2); - + 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 \ No newline at end of file