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communications constraint improvements, experiment 1 design

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This commit is contained in:
Kevin Dee
2026-03-11 12:02:17 -07:00
parent b09f882369
commit ea034dd748
10 changed files with 134 additions and 17 deletions
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15
@miSim/constrainMotion.m
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@@ -133,11 +133,22 @@ function [obj] = constrainMotion(obj)
for ii = 1:(nAgents - 1)
for jj = (ii + 1):nAgents
if obj.constraintAdjacencyMatrix(ii, jj)
hComms(ii, jj) = min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])^2 - norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2;
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;
A(kk, (3 * ii - 2):(3 * ii)) = 2 * (obj.agents{ii}.pos - obj.agents{jj}.pos);
A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
b(kk) = obj.barrierGain * max(0, hComms(ii, jj))^obj.barrierExponent;
% One-step forward invariance: b = h/dt ensures h cannot
% go negative in a single timestep (linear approximation)
v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep;
hMin = -4 * r_comms * v_max_ij * obj.timestep;
if norm(A(kk, :)) < 1e-9
b(kk) = 0;
else
b(kk) = max(hMin, hComms(ii, jj)) / obj.timestep;
end
kk = kk + 1;
end