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per-UAV parameters

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Kevin Dee
2026-03-03 16:18:07 -08:00
parent 252423eb29
commit fe7b1b2ed3
13 changed files with 171 additions and 83 deletions
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50
@miSim/initializeFromCsv.m
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@@ -14,9 +14,12 @@ function obj = initializeFromCsv(obj, csvPath)
%
% Expected CSV columns (see scenario.csv):
% timestep, maxIter, minAlt, discretizationStep, protectedRange,
% initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange,
% alphaDist, betaDist, alphaTilt, betaTilt,
% initialStepSize, barrierGain, barrierExponent,
% collisionRadius (per-UAV), comRange (per-UAV),
% alphaDist (per-UAV), betaDist (per-UAV),
% alphaTilt (per-UAV), betaTilt (per-UAV),
% domainMin ("x,y,z"), domainMax ("x,y,z"), objectivePos ("x,y"),
% objectiveVar ("v11,v12,v21,v22"), sensorPerformanceMinimum,
% initialPositions (flat "x1,y1,z1, x2,y2,z2,..."),
% numObstacles, obstacleMin (flat), obstacleMax (flat)
@@ -39,12 +42,13 @@ PROTECTED_RANGE = scenario.protectedRange;
INITIAL_STEP_SIZE = scenario.initialStepSize;
BARRIER_GAIN = scenario.barrierGain;
BARRIER_EXPONENT = scenario.barrierExponent;
COLLISION_RADIUS = scenario.collisionRadius;
COMMS_RANGE = scenario.comRange;
ALPHA_DIST = scenario.alphaDist;
BETA_DIST = scenario.betaDist;
ALPHA_TILT = scenario.alphaTilt;
BETA_TILT = scenario.betaTilt;
% Per-UAV parameters (vectors with one element per UAV)
COLLISION_RADIUS_VEC = scenario.collisionRadius; % 1×N
COMMS_RANGE_VEC = scenario.comRange; % 1×N
ALPHA_DIST_VEC = scenario.alphaDist; % 1×N
BETA_DIST_VEC = scenario.betaDist; % 1×N
ALPHA_TILT_VEC = scenario.alphaTilt; % 1×N
BETA_TILT_VEC = scenario.betaTilt; % 1×N
DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3
@@ -59,6 +63,20 @@ assert(mod(numel(flatPos), 3) == 0, ...
positions = reshape(flatPos, 3, [])'; % N×3
numAgents = size(positions, 1);
% Validate per-UAV parameter lengths match numAgents
assert(numel(COLLISION_RADIUS_VEC) == numAgents, ...
"collisionRadius has %d values but expected %d (one per UAV)", numel(COLLISION_RADIUS_VEC), numAgents);
assert(numel(COMMS_RANGE_VEC) == numAgents, ...
"comRange has %d values but expected %d (one per UAV)", numel(COMMS_RANGE_VEC), numAgents);
assert(numel(ALPHA_DIST_VEC) == numAgents, ...
"alphaDist has %d values but expected %d (one per UAV)", numel(ALPHA_DIST_VEC), numAgents);
assert(numel(BETA_DIST_VEC) == numAgents, ...
"betaDist has %d values but expected %d (one per UAV)", numel(BETA_DIST_VEC), numAgents);
assert(numel(ALPHA_TILT_VEC) == numAgents, ...
"alphaTilt has %d values but expected %d (one per UAV)", numel(ALPHA_TILT_VEC), numAgents);
assert(numel(BETA_TILT_VEC) == numAgents, ...
"betaTilt has %d values but expected %d (one per UAV)", numel(BETA_TILT_VEC), numAgents);
numObstacles = scenario.numObstacles;
% ---- Build domain --------------------------------------------------------
@@ -70,19 +88,23 @@ dom.objective = sensingObjective;
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, OBJECTIVE_VAR);
dom.objective = dom.objective.initialize(objFcn, dom, DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% ---- Build shared sensor model -------------------------------------------
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST, BETA_DIST, ALPHA_TILT, BETA_TILT);
% ---- Initialise agents from scenario positions ---------------------------
% Each agent gets its own sensor model and collision/comms radii from the
% per-UAV parameter vectors.
agentList = cell(numAgents, 1);
for ii = 1:numAgents
pos = positions(ii, :);
% Per-UAV sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST_VEC(ii), BETA_DIST_VEC(ii), ...
ALPHA_TILT_VEC(ii), BETA_TILT_VEC(ii));
geom = spherical;
geom = geom.initialize(pos, COLLISION_RADIUS, REGION_TYPE.COLLISION, ...
geom = geom.initialize(pos, COLLISION_RADIUS_VEC(ii), REGION_TYPE.COLLISION, ...
sprintf("UAV %d Collision", ii));
ag = agent;
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE, MAX_ITER, ...
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE_VEC(ii), MAX_ITER, ...
INITIAL_STEP_SIZE, sprintf("UAV %d", ii));
agentList{ii} = ag;
end