kdee/miSim
1
0 Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

new SINR threshold comms CBF constraint

Browse Source
This commit is contained in:
kdee committed 2026-06-26 22:13:51 -07:00
1 parent b53f62391b
commit efa251d747
18 files changed
+534 -66
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

aerpaw/guidance_step.m
+32 -9
View File
@@ -17,7 +17,8 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% Flat array of guidance parameters (compiled path).
% On MATLAB path this is ignored; parameters are loaded
% from scenario.csv via initializeFromCsv instead.
% Index mapping (1-based):
% Index mapping (1-based; authoritative map in
% aerpaw/impl/controller_impl.h):
% 1 timestep 9-12 collisionRadius[1:4]
% 2 maxIter 13-16 comRange[1:4]
% 3 minAlt 17-20 alphaDist[1:4]
@@ -26,12 +27,20 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% 6 initialStepSize 29-32 betaTilt[1:4]
% 7 barrierGain 33-35 domainMin
% 8 barrierExponent 36-38 domainMax
% 39-40 objectivePos
% 41-44 objectiveVar (2x2, col-major)
% 45 sensorPerformanceMinimum
% 46 useDoubleIntegrator
% 47 dampingCoeff
% 48 useFixedTopology
% 39 numObjectiveComponents
% 40-43 objectivePos [x1,y1,x2,y2]
% 44-51 objectiveVar [per component]
% 52 sensorPerformanceMinimum
% 53 useDoubleIntegrator
% 54 dampingCoeff
% 55 useFixedTopology
% 56-59 txPower[1:4]
% 60 useSinrComms
% 61 sinrThreshold (dB)
% 62 pathLossExponent
% 63 ambientTemp (K)
% 64 centerFreq (Hz)
% 65 bandwidth (Hz)
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count
@@ -101,6 +110,13 @@ if isInit
USE_DOUBLE_INTEGRATOR = logical(scenarioParams(53));
DAMPING_COEFF = scenarioParams(54);
USE_FIXED_TOPOLOGY = logical(scenarioParams(55));
TX_POWER_VEC = scenarioParams(56:59); % per-UAV [1:MAX_CLIENTS] (W)
USE_SINR_COMMS = logical(scenarioParams(60));
SINR_THRESHOLD = scenarioParams(61); % dB
PATH_LOSS_EXPONENT = scenarioParams(62);
AMBIENT_TEMP = scenarioParams(63); % Kelvin
CENTER_FREQ = scenarioParams(64); % Hz
BANDWIDTH = scenarioParams(65); % Hz
% --- Build domain geometry ---
dom = rectangularPrism;
@@ -141,6 +157,7 @@ if isInit
ag = agent;
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE_VEC(ii), MAX_ITER, ...
INITIAL_STEP_SIZE, sprintf("UAV %d", ii));
ag.txPower = TX_POWER_VEC(ii); % SINR comms model transmit power (W)
agentList{ii} = ag;
end
@@ -158,7 +175,8 @@ if isInit
sim = miSim;
sim = sim.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY, false, ...
USE_SINR_COMMS, SINR_THRESHOLD, PATH_LOSS_EXPONENT, AMBIENT_TEMP, CENTER_FREQ, BANDWIDTH);
end
% On the init call return current positions unchanged
@@ -187,8 +205,13 @@ else
% 2. Advance timestep counter
sim.timestepIndex = sim.timestepIndex + 1;
% 3. Update communications topology (Lesser Neighbour Assignment)
% 3. Update communications topology (Lesser Neighbour Assignment).
% Refresh the adjacency graph from current positions first so connectivity
% (fixed-radius or SINR) tracks the agents as they move; otherwise the graph
% would be frozen at init on the compiled path (the MATLAB sim refreshes it
% in @miSim/run.m). Skip when topology is fixed.
if ~sim.useFixedTopology
sim = sim.updateAdjacency();
sim = sim.lesserNeighbor();
end