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new SINR threshold comms CBF constraint

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kdee committed 2026-06-26 22:13:51 -07:00
1 parent b53f62391b
commit efa251d747
18 files changed
+534 -66
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@miSim/initialize.m
+20 -2
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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, optimizeSensorPointing)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology, optimizeSensorPointing, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth)
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
@@ -15,6 +15,12 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
dampingCoeff (1, 1) double = 2.0;
useFixedTopology (1, 1) logical = false;
optimizeSensorPointing (1, 1) logical = false;
useSinrComms (1, 1) logical = false;
sinrThreshold (1, 1) double = 0;
pathLossExponent (1, 1) double = 2.0;
ambientTemp (1, 1) double = 290.0;
centerFreq (1, 1) double = 2.4e9;
bandwidth (1, 1) double = 20e6;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "miSim")};
@@ -98,6 +104,14 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.useFixedTopology = useFixedTopology;
obj.optimizeSensorPointing = optimizeSensorPointing;
% Set communications model and SINR parameters
obj.useSinrComms = useSinrComms;
obj.sinrThreshold = sinrThreshold;
obj.pathLossExponent = pathLossExponent;
obj.ambientTemp = ambientTemp;
obj.centerFreq = centerFreq;
obj.bandwidth = bandwidth;
% Compute adjacency matrix and network topology
obj = obj.updateAdjacency();
if obj.useFixedTopology
@@ -126,7 +140,11 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
end
nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs
nADPairs = size(obj.agents, 1) * 6; % agents x (4 walls + 1 floor + 1 ceiling)
nLNAPairs = sum(triu(obj.constraintAdjacencyMatrix, 1), "all");
% Comms barriers: size to the upper bound (full mesh) rather than the initial
% constraint-adjacency count. Connectivity is dynamic (lesser-neighbor and,
% especially, SINR) and can later maintain more pairs than at init; sizing to
% nAAPairs prevents the QP A/b matrices from overflowing mid-run.
nLNAPairs = nAAPairs;
obj.numBarriers = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
if coder.target('MATLAB')