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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
+531 -63
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@agent/agent.m
+3 -2
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@@ -19,7 +19,8 @@ classdef agent
fovGeometry;
% Communication
commsGeometry;
commsGeometry; % fixed-radius comms model (spherical, radius = comRange)
txPower = 0.1; % transmit power (W) for the SINR comms model (isotropic)
lesserNeighbors = zeros(1, 0);
% Performance
@@ -49,7 +50,7 @@ classdef agent
obj.fovGeometry = cone;
obj.commsGeometry = spherical;
end
[obj] = initialize(obj, pos, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
[obj] = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry, txPower);
[obj] = run(obj, domain, partitioning, t, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing, otherAgents);
[partitioning, agents] = partition(obj, agents, objective)
[obj, f] = plot(obj, ind, f);
@agent/initialize.m
+3 -1
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@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry)
function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry, txPower)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
pos (1, 3) double;
@@ -10,6 +10,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
initialMaxAngleStepSize (1, 1) double = 5.0;
label (1, 1) string = "";
plotCommsGeometry (1, 1) logical = false;
txPower (1, 1) double = 0.1;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "agent")};
@@ -25,6 +26,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
obj.plotCommsGeometry = plotCommsGeometry;
obj.initialStepSize = initialStepSize;
obj.initialMaxAngleStepSize = initialMaxAngleStepSize;
obj.txPower = txPower;
obj.stepDecayRate = obj.initialStepSize / maxIter;
obj.angleStepDecayRate = obj.initialMaxAngleStepSize / maxIter;
@miSim/constrainMotion.m
+58 -17
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@@ -141,27 +141,68 @@ function [obj] = constrainMotion(obj)
% Add communication network constraints
hComms = NaN(nAgents, nAgents);
hComms(logical(eye(nAgents))) = 0;
for ii = 1:(nAgents - 1)
for jj = (ii + 1):nAgents
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}.lastPos - obj.agents{jj}.lastPos)^2;
if ~obj.useSinrComms
% Fixed-radius comms: keep each maintained pair within the smaller of
% the two comms radii via the barrier h = r_comms^2 - dist^2.
for ii = 1:(nAgents - 1)
for jj = (ii + 1):nAgents
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}.lastPos - obj.agents{jj}.lastPos)^2;
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));
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
% 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;
% 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
end
end
else
% SINR comms: keep the SINR of each maintained link above threshold via
% the barrier h = SINR - gammaLin. Per the connectivity convention the
% lower-index agent (ii) receives the higher-index transmitter (jj). The
% gradient couples the receiver, transmitter, and every interferer, so
% the QP row is dense across all agent blocks.
% Maintain SINR a margin above the connectivity threshold so that
% discrete-time overshoot of the (convex) SINR does not transiently
% drop a maintained link below threshold. Mirrors the fixed-radius
% barrier's 0.9 padding: the CBF holds SINR >= gammaCbf > gammaLin,
% while connectivity (updateAdjacency) still uses gammaLin.
paddingDb = 3.0;
gammaCbf = 10^((obj.sinrThreshold + paddingDb) / 10);
lastPositions = zeros(nAgents, 3);
for ll = 1:nAgents
lastPositions(ll, :) = obj.agents{ll}.lastPos;
end
for ii = 1:(nAgents - 1)
for jj = (ii + 1):nAgents
if obj.constraintAdjacencyMatrix(ii, jj)
[sinr, grad] = obj.sinrLink(lastPositions, ii, jj); % receiver ii, transmitter jj
hComms(ii, jj) = sinr - gammaCbf;
kk = kk + 1;
% CBF row: A = -grad(h), b = h/dt (one-step forward invariance)
for aa = 1:nAgents
A(kk, (3 * aa - 2):(3 * aa)) = -grad(aa, :);
end
if norm(A(kk, :)) < 1e-9
b(kk) = 0;
else
b(kk) = hComms(ii, jj) / obj.timestep;
end
kk = kk + 1;
end
end
end
end
@miSim/initialize.m
+20 -2
View File
@@ -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')
@miSim/initializeFromCsv.m
+43 -1
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@@ -107,6 +107,46 @@ else
USE_FIXED_TOPOLOGY = false;
end
% SINR communications model (optional columns — backward compatible with
% older CSVs that predate the SINR model; defaults keep the fixed-radius path)
if isfield(scenario, 'txPower')
TX_POWER_VEC = scenario.txPower; % 1×N (Watts)
assert(numel(TX_POWER_VEC) == numAgents, ...
"txPower has %d values but expected %d (one per UAV)", numel(TX_POWER_VEC), numAgents);
else
TX_POWER_VEC = 0.1 * ones(1, numAgents);
end
if isfield(scenario, 'useSinrComms')
USE_SINR_COMMS = logical(scenario.useSinrComms);
else
USE_SINR_COMMS = false;
end
if isfield(scenario, 'sinrThreshold')
SINR_THRESHOLD = scenario.sinrThreshold; % dB
else
SINR_THRESHOLD = 0;
end
if isfield(scenario, 'pathLossExponent')
PATH_LOSS_EXPONENT = scenario.pathLossExponent;
else
PATH_LOSS_EXPONENT = 2.0;
end
if isfield(scenario, 'ambientTemp')
AMBIENT_TEMP = scenario.ambientTemp; % Kelvin
else
AMBIENT_TEMP = 290.0;
end
if isfield(scenario, 'centerFreq')
CENTER_FREQ = scenario.centerFreq; % Hz
else
CENTER_FREQ = 2.4e9;
end
if isfield(scenario, 'bandwidth')
BANDWIDTH = scenario.bandwidth; % Hz
else
BANDWIDTH = 20e6;
end
% ---- Build domain --------------------------------------------------------
dom = rectangularPrism;
dom = dom.initialize([DOMAIN_MIN; DOMAIN_MAX], REGION_TYPE.DOMAIN, "Guidance Domain");
@@ -134,6 +174,7 @@ for ii = 1:numAgents
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
@@ -153,6 +194,7 @@ end
% ---- Initialise simulation (plots and video disabled) --------------------
obj = obj.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
@miSim/initializeFromInits.m
+35 -1
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@@ -47,6 +47,9 @@ for ii = 1:numAgents
ag = agent;
ag = ag.initialize(pos, geom, sensor, inits.comRange(ii), inits.maxIter, ...
inits.initialStepSize(ii), sprintf("UAV %d", ii));
if isfield(inits, 'txPower')
ag.txPower = inits.txPower(ii); % SINR comms model transmit power (W)
end
agentList{ii} = ag;
end
@@ -78,10 +81,41 @@ if isfield(inits, 'useFixedTopology')
else
useFixedTopology = false;
end
if isfield(inits, 'useSinrComms')
useSinrComms = logical(inits.useSinrComms);
else
useSinrComms = false;
end
if isfield(inits, 'sinrThreshold')
sinrThreshold = inits.sinrThreshold;
else
sinrThreshold = 0;
end
if isfield(inits, 'pathLossExponent')
pathLossExponent = inits.pathLossExponent;
else
pathLossExponent = 2.0;
end
if isfield(inits, 'ambientTemp')
ambientTemp = inits.ambientTemp;
else
ambientTemp = 290.0;
end
if isfield(inits, 'centerFreq')
centerFreq = inits.centerFreq;
else
centerFreq = 2.4e9;
end
if isfield(inits, 'bandwidth')
bandwidth = inits.bandwidth;
else
bandwidth = 20e6;
end
% ---- Initialize simulation (plots and video disabled) ------------------------
obj = obj.initialize(dom, agentList, inits.barrierGain, inits.barrierExponent, ...
inits.minAlt, inits.timestep, inits.maxIter, obstacleList, ...
false, false, useDoubleIntegrator, dampingCoeff, useFixedTopology);
false, false, useDoubleIntegrator, dampingCoeff, useFixedTopology, false, ...
useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth);
end
@miSim/miSim.m
+11 -1
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@@ -21,6 +21,15 @@ classdef miSim
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
% Communications model selection and SINR-model parameters.
% useSinrComms = false -> fixed-radius comms (comRange / commsGeometry).
% useSinrComms = true -> SINR/path-loss comms (txPower + params below).
useSinrComms = false;
sinrThreshold = 0; % SINR threshold for connectivity & CBF maintenance (dB)
pathLossExponent = 2.0; % path-loss exponent n in S = P / (K * d^n)
ambientTemp = 290.0; % ambient temperature (K) for thermal noise N = k_B*T*B
centerFreq = 2.4e9; % carrier frequency (Hz); sets path-loss offset K = (4*pi*f_c/c)^2
bandwidth = 20e6; % channel bandwidth (Hz) for thermal noise N = k_B*T*B
artifactName = "";
f; % main plotting tiled layout figure
fPerf; % performance plot figure
@@ -70,13 +79,14 @@ classdef miSim
obj.obstacles = {rectangularPrism};
obj.agents = {agent};
end
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology);
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology, optimizeSensorPointing, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth);
[obj] = initializeFromCsv(obj, csvPath);
[obj] = initializeFromInits(obj, initsPath);
[obj] = plotFromSimHist(obj, initsPath, histPath);
[obj] = run(obj);
[obj] = lesserNeighbor(obj);
[obj] = constrainMotion(obj);
[sinr, grad] = sinrLink(obj, positions, rxIdx, txIdx);
[obj] = partition(obj);
[obj] = updateAdjacency(obj);
[obj] = plot(obj);
@miSim/plotGraph.m
+35 -11
View File
@@ -9,20 +9,44 @@ function obj = plotGraph(obj)
% Form graph from adjacency matrix
G = graph(obj.constraintAdjacencyMatrix, "omitselfloops");
% Plot graph object
% Resolve the target axes for the network graph tile
if isnan(obj.networkGraphIndex)
hold(obj.f.CurrentAxes, "on");
o = plot(obj.f.CurrentAxes, G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
hold(obj.f.CurrentAxes, "off");
ax = obj.f.CurrentAxes;
else
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "on");
o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "off");
if size(obj.networkGraphIndex, 2) > 1
for ii = 2:size(ind, 2)
o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
end
ax = obj.f.Children(1).Children(obj.networkGraphIndex(1));
end
% Plot graph object
hold(ax, "on");
o = plot(ax, G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
hold(ax, "off");
if ~isnan(obj.networkGraphIndex) && size(obj.networkGraphIndex, 2) > 1
for ii = 2:size(obj.networkGraphIndex, 2)
o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
end
end
% In SINR comms mode, label each edge with the connection's SINR (dB) and
% report the connectivity threshold as a subtitle on the tile. The
% fixed-radius model is left unchanged (no edge labels, no subtitle).
if obj.useSinrComms
endNodes = G.Edges.EndNodes; % each row [lo hi]; graph stores lo < hi
nAgents = size(obj.agents, 1);
positions = zeros(nAgents, 3);
for kk = 1:nAgents
positions(kk, :) = obj.agents{kk}.pos;
end
% Directional convention (matches updateAdjacency/constrainMotion):
% the lower-index node is the receiver, the higher-index node the
% transmitter, with interference from all other agents at the receiver.
edgeLabels = strings(size(endNodes, 1), 1);
for ee = 1:size(endNodes, 1)
sinrLin = obj.sinrLink(positions, endNodes(ee, 1), endNodes(ee, 2));
edgeLabels(ee) = sprintf("%.1f dB", 10 * log10(sinrLin));
end
o(1).EdgeLabel = edgeLabels;
subtitle(ax, sprintf("SINR threshold: %.1f dB", obj.sinrThreshold));
end
obj.graphPlot = o;
end
@miSim/sinrLink.m
+101
View File
@@ -0,0 +1,101 @@
function [sinr, grad] = sinrLink(obj, positions, rxIdx, txIdx)
% SINRLINK Linear SINR of the link txIdx -> rxIdx and its position gradient.
%
% Computes the signal-to-interference-plus-noise ratio seen at receiver rxIdx
% for the signal transmitted by txIdx, treating every other agent as an
% interferer at that receiver. Isotropic transmit/receive (no antenna gains).
%
% Returns the linear SINR and (optionally) its gradient with respect to every
% agent position, grad(a, :) = d(SINR)/d(p_a). The value is used by
% updateAdjacency (connectivity) and both the value and gradient by
% constrainMotion (the SINR CBF barrier).
%
% Model (linear power domain), receiver r = rxIdx, transmitter t = txIdx:
% S = P_t / (K * d_tr^n) % received signal at r from t (W)
% I = sum_{k != t,r} P_k / (K * d_kr^n) % interference at r from others (W)
% N = k_B * T * B % thermal noise (W)
% SINR = S / (N + I)
% with K = (4*pi*f_c/c)^2 and physical constants baked in below. The only
% tunables are per-agent txPower (P), pathLossExponent (n), ambientTemp (T),
% all read from obj; the SINR threshold is applied by the callers.
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
positions (:, 3) double;
rxIdx (1, 1) double;
txIdx (1, 1) double;
end
arguments (Output)
sinr (1, 1) double;
grad (:, 3) double;
end
% Universal physical constants
k_B = 1.380649e-23; % Boltzmann constant (J/K)
c = 3e8; % speed of light (m/s)
% System parameters
f_c = obj.centerFreq; % carrier frequency (Hz)
B = obj.bandwidth; % channel bandwidth (Hz)
K = (4 * pi * f_c / c)^2; % free-space path-loss reference constant
n = obj.pathLossExponent;
T = obj.ambientTemp;
d0 = 1.0; % near-field distance floor (m)
nAgents = size(positions, 1);
grad = zeros(nAgents, 3);
r = rxIdx;
t = txIdx;
pr = positions(r, :);
% Thermal noise (always > 0, so the denominator never vanishes)
N = k_B * T * B;
% Signal term S (source = transmitter t)
P_t = obj.agents{t}.txPower;
dvec_t = positions(t, :) - pr;
d_t = max(norm(dvec_t), d0);
S = P_t / (K * d_t^n);
% Interference I = sum of received powers from every other agent at r
I = 0.0;
for k = 1:nAgents
if k == r || k == t
continue;
end
d_k = max(norm(positions(k, :) - pr), d0);
I = I + obj.agents{k}.txPower / (K * d_k^n);
end
D = N + I; % denominator: noise + interference
sinr = S / D;
% ---- Gradient (skip unless requested) -------------------------------
% For a received term P_x/(K*d_xr^n):
% d(term)/dp_x = -n*term/d_xr^2 * (p_x - p_r), d(term)/dp_r = -d(term)/dp_x
if nargout > 1
% Transmitter affects S only: dSINR/dp_t = (dS/dp_t)/D
dS_dpt = (-n * S / (d_t^2)) * dvec_t;
grad(t, :) = dS_dpt / D;
% Interferers affect I only; accumulate the receiver's I-contribution
dI_dpr = zeros(1, 3);
for k = 1:nAgents
if k == r || k == t
continue;
end
dvec_k = positions(k, :) - pr;
d_k = max(norm(dvec_k), d0);
term_k = obj.agents{k}.txPower / (K * d_k^n);
dterm_dpk = (-n * term_k / (d_k^2)) * dvec_k;
grad(k, :) = (-S / (D^2)) * dterm_dpk; % dSINR/dp_k
dI_dpr = dI_dpr - dterm_dpk; % d(term_k)/dp_r = -d(term_k)/dp_k
end
% Receiver affects both S and I
dS_dpr = -dS_dpt;
grad(r, :) = dS_dpr / D - (S / (D^2)) * dI_dpr;
end
end
@miSim/updateAdjacency.m
+31 -9
View File
@@ -6,16 +6,38 @@ function obj = updateAdjacency(obj)
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Initialize assuming only self-connections
A = true(size(obj.agents, 1));
nAgents = size(obj.agents, 1);
% Check lower triangle off-diagonal connections
for ii = 2:size(A, 1)
for jj = 1:(ii - 1)
% Check that agents are not out of range
if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])
A(ii, jj) = false; % comm range violation
continue;
% Initialize assuming all agents are connected
A = true(nAgents);
if ~obj.useSinrComms
% Fixed-radius model: pair connected iff separation is within the
% smaller of the two comms radii.
for ii = 2:nAgents
for jj = 1:(ii - 1)
if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])
A(ii, jj) = false; % comm range violation
continue;
end
end
end
else
% SINR model: pair (ii, jj) connected iff the lower-index agent (jj)
% receives the higher-index agent's (ii) signal above the SINR
% threshold, with interference from all other agents at the receiver.
gammaLin = 10^(obj.sinrThreshold / 10); % dB threshold -> linear
positions = zeros(nAgents, 3);
for kk = 1:nAgents
positions(kk, :) = obj.agents{kk}.pos;
end
for ii = 2:nAgents
for jj = 1:(ii - 1)
sinr = obj.sinrLink(positions, jj, ii); % receiver jj, transmitter ii
if sinr < gammaLin
A(ii, jj) = false; % SINR below threshold
continue;
end
end
end
end
@miSim/writeInits.m
+3
View File
@@ -47,6 +47,7 @@ function writeInits(obj)
tilt = cellfun(@(x) x.sensorModel.tilt, obj.agents);
azimuth = cellfun(@(x) x.sensorModel.azimuth, obj.agents);
comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
txPower = cellfun(@(x) x.txPower, 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, userObstacles, 'UniformOutput', false));
@@ -59,6 +60,8 @@ function writeInits(obj)
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", numInputObs, ...
"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, "useFixedTopology", obj.useFixedTopology, ...
"useSinrComms", obj.useSinrComms, "sinrThreshold", obj.sinrThreshold, "pathLossExponent", obj.pathLossExponent, "ambientTemp", obj.ambientTemp, ...
"centerFreq", obj.centerFreq, "bandwidth", obj.bandwidth, "txPower", txPower, ... % SINR comms model parameters
"tilt", tilt, "azimuth", azimuth, ... % joint sensor parameters
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ... % sigmoid sensor parameters
"lossExponent", lossExponent, "P_TX", P_TX, "BW", BW, "f_c", f_c, "G_RX_dBi", G_RX_dBi, "beamwidthExponent", beamwidthExponent, ... % RF sensor parameters
aerpaw/config/scenario.csv
+2 -2
View File
@@ -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
1, 80, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "15.0, 15.0, 50.0, 40.0, 10.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1
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, txPower, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth
1, 80, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "15.0, 15.0, 50.0, 40.0, 10.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1, "0.2, 0.1", 0, 5.0, 2.5, 290.0, 2.4e9, 20e6
1 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 txPower useSinrComms sinrThreshold pathLossExponent ambientTemp centerFreq bandwidth
2 1 80 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 50.0 0.25, 1.0 8.0, 25.0 0.1, 0.02 0.0, 0.0, 0.0 100.0, 100.0, 100.0 60.0, 80.0, 45.0, 70.0 70, 15, 15, 20, 20, 15, 15, 70 0.15 15.0, 15.0, 50.0, 40.0, 10.0, 45.0 8 0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0 16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0 0 2.0 1 0.2, 0.1 0 5.0 2.5 290.0 2.4e9 20e6
aerpaw/controller.m
+1 -1
View File
@@ -50,7 +50,7 @@ else
end
% Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 55;
NUM_SCENARIO_PARAMS = 65;
MAX_OBSTACLES_CTRL = int32(8);
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);
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
aerpaw/impl/controller_impl.cpp
+65 -2
View File
@@ -238,8 +238,8 @@ int loadScenario(const char* filename, double* params) {
strncpy(copy, line, sizeof(copy) - 1);
copy[sizeof(copy) - 1] = '\0';
char* fields[32];
int nf = splitCSVRow(copy, fields, 32);
char* fields[40];
int nf = splitCSVRow(copy, fields, 40);
if (nf < 26) {
fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
return 0;
@@ -376,8 +376,71 @@ int loadScenario(const char* filename, double* params) {
params[54] = atof(trimField(tmp));
}
// ---- SINR communications model (columns 26–30; optional) ----
// Defaults mirror @miSim/initializeFromCsv.m so a CSV predating the SINR
// model still loads (useSinrComms stays 0 -> fixed-radius path is used).
// txPower[1:4] -> params[55:58]; useSinrComms -> 59;
// sinrThreshold (dB) -> 60; pathLossExponent -> 61; ambientTemp (K) -> 62;
// centerFreq (Hz) -> 63; bandwidth (Hz) -> 64.
params[55] = 0.1; params[56] = 0.1; params[57] = 0.1; params[58] = 0.1;
params[59] = 0.0; // useSinrComms
params[60] = 0.0; // sinrThreshold (dB)
params[61] = 2.0; // pathLossExponent
params[62] = 290.0; // ambientTemp (K)
params[63] = 2.4e9; // centerFreq (Hz)
params[64] = 20e6; // bandwidth (Hz)
// txPower: column 26 (per-UAV, up to MAX_CLIENTS_PER_PARAM values, zero-padded)
if (nf > 26) {
char tmp[256]; strncpy(tmp, fields[26], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
double vals[4] = {0, 0, 0, 0};
int count = 0;
char* tok = strtok(t, ",");
while (tok && count < MAX_CLIENTS_PER_PARAM) {
vals[count++] = atof(tok);
tok = strtok(nullptr, ",");
}
if (count > 0) {
for (int k = 0; k < MAX_CLIENTS_PER_PARAM; k++) params[55 + k] = vals[k];
}
}
// useSinrComms: column 27
if (nf > 27) {
char tmp[64]; strncpy(tmp, fields[27], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[59] = atof(trimField(tmp));
}
// sinrThreshold: column 28 (dB)
if (nf > 28) {
char tmp[64]; strncpy(tmp, fields[28], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[60] = atof(trimField(tmp));
}
// pathLossExponent: column 29
if (nf > 29) {
char tmp[64]; strncpy(tmp, fields[29], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[61] = atof(trimField(tmp));
}
// ambientTemp: column 30 (K)
if (nf > 30) {
char tmp[64]; strncpy(tmp, fields[30], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[62] = atof(trimField(tmp));
}
// centerFreq: column 31 (Hz)
if (nf > 31) {
char tmp[64]; strncpy(tmp, fields[31], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[63] = atof(trimField(tmp));
}
// bandwidth: column 32 (Hz)
if (nf > 32) {
char tmp[64]; strncpy(tmp, fields[32], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[64] = atof(trimField(tmp));
}
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g], %d objective component(s)\n",
params[32], params[33], params[34], params[35], params[36], params[37], (int)params[38]);
printf("Comms model: %s (SINR threshold %g dB, path-loss exp %g, T=%g K, f_c=%g Hz, BW=%g Hz)\n",
params[59] != 0.0 ? "SINR" : "fixed-radius", params[60], params[61], params[62], params[63], params[64]);
return 1;
}
aerpaw/impl/controller_impl.h
+8 -1
View File
@@ -34,7 +34,14 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// 52 useDoubleIntegrator (0=single-integrator, 1=double-integrator)
// 53 dampingCoeff
// 54 useFixedTopology (0=dynamic lesser-neighbor, 1=fixed)
#define NUM_SCENARIO_PARAMS 55
// 55-58 txPower[1:4] (per-UAV transmit power, Watts; SINR comms model)
// 59 useSinrComms (0=fixed-radius comms, 1=SINR/path-loss comms)
// 60 sinrThreshold (SINR connectivity/CBF threshold, dB)
// 61 pathLossExponent (path-loss exponent n)
// 62 ambientTemp (ambient temperature, K; thermal noise)
// 63 centerFreq (carrier frequency, Hz; path-loss offset)
// 64 bandwidth (channel bandwidth, Hz; thermal noise)
#define NUM_SCENARIO_PARAMS 65
#define MAX_CLIENTS_PER_PARAM 4
// Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8
aerpaw/results/resultsAnalysis.m
+18 -2
View File
@@ -45,6 +45,9 @@ for ii = 1:size(agents, 1)
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, 5.0, sprintf("Agent %d", ii), plotCommsGeometry);
if isfield(params, 'txPower')
agents{ii}.txPower = params.txPower(ii); % SINR comms model transmit power (W)
end
end
% Create obstacles
@@ -54,9 +57,22 @@ for ii = 1:size(obstacles, 1)
obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
end
% Set up simulation
% SINR communications model parameters (optional CSV columns; default to the
% fixed-radius path so existing scenarios are unaffected)
if isfield(params, 'useSinrComms'); useSinrComms = logical(params.useSinrComms); else; useSinrComms = false; end
if isfield(params, 'sinrThreshold'); sinrThreshold = params.sinrThreshold; else; sinrThreshold = 0; end
if isfield(params, 'pathLossExponent'); pathLossExponent = params.pathLossExponent; else; pathLossExponent = 2.0; end
if isfield(params, 'ambientTemp'); ambientTemp = params.ambientTemp; else; ambientTemp = 290.0; end
if isfield(params, 'centerFreq'); centerFreq = params.centerFreq; else; centerFreq = 2.4e9; end
if isfield(params, 'bandwidth'); bandwidth = params.bandwidth; else; bandwidth = 20e6; end
% Set up simulation. The four args after makeVideo (useDoubleIntegrator,
% dampingCoeff, useFixedTopology, optimizeSensorPointing) are kept at their
% prior effective defaults to preserve existing analysis behavior; only the
% SINR comms parameters are threaded through from the scenario.
sim = miSim;
sim = sim.initialize(domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, makePlots, makeVideo);
sim = sim.initialize(domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, makePlots, makeVideo, ...
false, 2.0, false, false, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth);
% Save simulation parameters to output file
sim.writeInits();
test/test_miSim.m
+62 -1
View File
@@ -815,7 +815,68 @@ classdef test_miSim < matlab.unittest.TestCase
% Run the simulation
tc.testClass.run();
end
function test_communications_constraint(tc)
function test_communications_constraint_SINR_threshold(tc)
% No obstacles
% Fixed two agents initial conditions
% Negligible collision geometries
% Non-standard domain with two objectives that will try to pull the
% agents apart
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([2, 8; 8, 8]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
tc.agents = {agent; agent;};
tc.collisionRanges = .25 * ones(size(tc.agents));
d = [1, 0, 0];
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center + d, tc.collisionRanges(1), REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d, tc.collisionRanges(2), REGION_TYPE.COLLISION);
% Initialize agent sensor model
tc.sensor = sigmoidSensor;
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 15, 3);
% Initialize obstacles
tc.obstacles = {};
% Initialize agents
tc.maxIter = 50;
tc.commsRanges = 4 * ones(size(tc.agents)); % unused in SINR mode; kept for parity with the fixed-radius variant
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% SINR communications model parameters. With isotropic links and only
% two agents (no interference) the link is noise-limited:
% SINR = Ptx / ((4*pi*fc/c)^2 * d^n * kB*T*B)
% Pick the threshold so the SINR connectivity boundary sits at an
% effective range of ~4 m, mirroring the commsRange used by the
% fixed-radius variant of this test (so the two agents still cannot
% reach their objectives without breaking connectivity).
useSinrComms = true;
txPower = 0.1; % transmit power per agent (W)
pathLossExponent = 2.0;
ambientTemp = 290; % K
centerFreq = 2.4e9; % Hz
bandwidth = 20e6; % Hz
effRange = 4.0; % desired effective comms range (m)
K_pl = (4 * pi * centerFreq / 3e8)^2; % free-space path-loss reference
noiseW = 1.380649e-23 * ambientTemp * bandwidth; % thermal noise (W)
sinrThreshold = 10 * log10(txPower / (K_pl * effRange^pathLossExponent * noiseW)); % dB
tc.agents{1}.txPower = txPower;
tc.agents{2}.txPower = txPower;
% Initialize the simulation in SINR comms mode
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing, useSinrComms, sinrThreshold, pathLossExponent, ambientTemp, centerFreq, bandwidth);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_communications_constraint_fixed_radius(tc)
% No obstacles
% Fixed two agents initial conditions
% Negligible collision geometries