added cone geometry, implemented fov visualization

.gitattributes

@@ -0,0 +1,33 @@
+* text=auto
+
+*.fig binary
+*.mat binary
+*.mdl binary diff merge=mlAutoMerge
+*.mdlp binary
+*.mex* binary
+*.mlapp binary
+*.mldatx binary merge=mlAutoMerge
+*.mlproj binary
+*.mlx binary
+*.p binary
+*.plprj binary
+*.sbproj binary
+*.sfx binary
+*.sldd binary
+*.slreqx binary merge=mlAutoMerge
+*.slmx binary merge=mlAutoMerge
+*.sltx binary
+*.slxc binary
+*.slx binary merge=mlAutoMerge
+*.slxp binary
+
+## MATLAB Project metadata files use LF line endings
+/resources/project/**/*.xml text eol=lf
+
+## Other common binary file types
+*.docx binary
+*.exe binary
+*.jpg binary
+*.pdf binary
+*.png binary
+*.xlsx binary

.gitignore

@@ -0,0 +1,43 @@
+# Autosave files
+*.asv
+*.m~
+*.autosave
+*.slx.r*
+*.mdl.r*
+
+# Derived content-obscured files
+*.p
+
+# Compiled MEX files
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.mltbx
+
+# Deployable archives
+*.ctf
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Code generation folders
+slprj/
+sccprj/
+codegen/
+
+# Cache files
+*.slxc
+
+# Cloud based storage dotfile
+.MATLABDriveTag
+
+# buildtool cache folder
+.buildtool/
+
+# SimBiology backup files
+*.sbproj.backup
+*.sbproj.bak
+
+# Sandbox contents
+sandbox/*

README.md

@@ -1 +1,4 @@
 # miSim
+*Multi-agent Interconnectivity Simulation*
+
+<img width="992" height="665" alt="image" src="https://github.com/user-attachments/assets/133a283b-63fe-46a8-b1cf-81f6ab1cccfc" />

agent.m

@@ -5,25 +5,44 @@ classdef agent
         label = "";
 
         % Sensor
-        sensingFunction = @(r) 0.5; % probability of detection as a function of range
+        sensorModel;
+        sensingLength = 0.05; % length parameter used by sensing function
+
+        % Guidance
+        guidanceModel;
 
         % State
-        pos = NaN(1, 3);
-        vel = NaN(1, 3);
-        cBfromC = NaN(3); % DCM body from sim cartesian (assume fixed for now)
+        lastPos = NaN(1, 3); % position from previous timestep
+        pos = NaN(1, 3); % current position
+        vel = NaN(1, 3); % current velocity
+        pan = NaN; % pan angle
+        tilt = NaN; % tilt angle
 
         % Collision
         collisionGeometry;
+
+        % FOV cone
+        fovGeometry;
+
+        % Communication
+        comRange = NaN;
+
+        % Plotting
+        scatterPoints;
     end
 
     methods (Access = public)
-        function obj = initialize(obj, pos, vel, cBfromC, collisionGeometry, index, label)
+        function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
             arguments (Input)
                 obj (1, 1) {mustBeA(obj, 'agent')};
                 pos (1, 3) double;
                 vel (1, 3) double;
-                cBfromC (3, 3) double {mustBeDcm};
-                collisionGeometry (1, 1) {mustBeConstraintGeometries};
+                pan (1, 1) double;
+                tilt (1, 1) double;
+                collisionGeometry (1, 1) {mustBeGeometry};
+                sensorModel (1, 1) {mustBeSensor}
+                guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
+                comRange (1, 1) double = NaN;
                 index (1, 1) double = NaN;
                 label (1, 1) string = "";
             end
@@ -33,17 +52,90 @@ classdef agent
 
             obj.pos = pos;
             obj.vel = vel;
-            obj.cBfromC = cBfromC;
+            obj.pan = pan;
+            obj.tilt = tilt;
             obj.collisionGeometry = collisionGeometry;
+            obj.sensorModel = sensorModel;
+            obj.guidanceModel = guidanceModel;
+            obj.comRange = comRange;
             obj.index = index;
             obj.label = label;
+
+            % Initialize FOV cone
+            obj.fovGeometry = cone;
+            obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], obj.sensorModel.r, obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
         end
-        function f = plot(obj, f)
+        function obj = run(obj, sensingObjective, domain, partitioning)
             arguments (Input)
                 obj (1, 1) {mustBeA(obj, 'agent')};
+                sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
+                domain (1, 1) {mustBeGeometry};
+                partitioning (:, :) double;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'agent')};
+            end
+
+            % Do sensing
+            [sensedValues, sensedPositions] = obj.sensorModel.sense(obj, sensingObjective, domain, partitioning);
+
+            % Determine next planned position
+            nextPos = obj.guidanceModel(sensedValues, sensedPositions, obj.pos);
+
+            % Move to next position
+            % (dynamics not modeled at this time)
+            obj.lastPos = obj.pos;
+            obj.pos = nextPos;
+
+            % Calculate movement
+            d = obj.pos - obj.collisionGeometry.center;
+
+            % Reinitialize collision geometry in the new position
+            obj.collisionGeometry = obj.collisionGeometry.initialize([obj.collisionGeometry.minCorner; obj.collisionGeometry.maxCorner] + d, obj.collisionGeometry.tag, obj.collisionGeometry.label);
+        end
+        function updatePlots(obj)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'agent')};
+            end
+            arguments (Output)
+            end
+
+            % Scatterplot point positions
+            for ii = 1:size(obj.scatterPoints, 1)
+                obj.scatterPoints(ii).XData = obj.pos(1);
+                obj.scatterPoints(ii).YData = obj.pos(2);
+                obj.scatterPoints(ii).ZData = obj.pos(3);
+            end
+
+            % Find change in agent position since last timestep
+            deltaPos = obj.pos - obj.lastPos;
+
+            % Collision geometry edges
+            for jj = 1:size(obj.collisionGeometry.lines, 2)
+                % Update plotting
+                for ii = 1:size(obj.collisionGeometry.lines(:, jj), 1)
+                    obj.collisionGeometry.lines(ii, jj).XData = obj.collisionGeometry.lines(ii, jj).XData + deltaPos(1);
+                    obj.collisionGeometry.lines(ii, jj).YData = obj.collisionGeometry.lines(ii, jj).YData + deltaPos(2);
+                    obj.collisionGeometry.lines(ii, jj).ZData = obj.collisionGeometry.lines(ii, jj).ZData + deltaPos(3);
+                end
+            end
+
+            % Update FOV geometry surfaces
+            for jj = 1:size(obj.fovGeometry.surface, 2)
+                % Update each plot
+                obj.fovGeometry.surface(jj).XData = obj.fovGeometry.surface(jj).XData + deltaPos(1);
+                obj.fovGeometry.surface(jj).YData = obj.fovGeometry.surface(jj).YData + deltaPos(2);
+                obj.fovGeometry.surface(jj).ZData = obj.fovGeometry.surface(jj).ZData + deltaPos(3);
+            end
+        end
+        function [obj, f] = plot(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'agent')};
+                ind (1, :) double = NaN;
                 f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
             end
             arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'agent')};
                 f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
             end
 
@@ -51,9 +143,25 @@ classdef agent
             f = firstPlotSetup(f);
 
             % Plot points representing the agent position
-            hold(f.CurrentAxes, "on");
-            scatter3(obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 50);
-            hold(f.CurrentAxes, "off");
+            hold(f.Children(1).Children(end), "on");
+            o = scatter3(f.Children(1).Children(end), obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 25);
+            hold(f.Children(1).Children(end), "off");
+
+            % Check if this is a tiled layout figure
+            if strcmp(f.Children(1).Type, 'tiledlayout')
+                % Add to other perspectives
+                o = [o; copyobj(o(1), f.Children(1).Children(2))];
+                o = [o; copyobj(o(1), f.Children(1).Children(3))];
+                o = [o; copyobj(o(1), f.Children(1).Children(4))];
+            end
+
+            obj.scatterPoints = o;
+
+            % Plot collision geometry
+            [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f);
+
+            % Plot FOV geometry
+            [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
         end
     end
 end

firstPlotSetup.m

@@ -1,8 +1,78 @@
 function f = firstPlotSetup(f)
+    arguments (Input)
+        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+    end
+    arguments (Output)
+        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+    end
     if isempty(f.CurrentAxes)
-        axes(f);
-        axis(f.CurrentAxes, "equal");
-        grid(f.CurrentAxes, "on");
-        view(f.CurrentAxes, 3);
+        tiledlayout(f, 5, 5, "TileSpacing", "tight", "Padding", "compact");
+
+        % 3D view
+        nexttile(1, [4, 5]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 3);
+        xlabel(f.Children(1).Children(1), "X"); ylabel(f.Children(1).Children(1), "Y"); zlabel(f.Children(1).Children(1), "Z");
+        title(f.Children(1).Children(1), "3D View");
+
+        % Communications graph
+        nexttile(21, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "off");
+        view(f.Children(1).Children(1), 0, 90);
+        title(f.Children(1).Children(1), "Network Graph");
+        set(f.Children(1).Children(1), 'XTickLabelMode', 'manual');
+        set(f.Children(1).Children(1), 'YTickLabelMode', 'manual');
+        set(f.Children(1).Children(1), 'XTickLabel', {});
+        set(f.Children(1).Children(1), 'YTickLabel', {});
+        set(f.Children(1).Children(1), 'XTick', []);
+        set(f.Children(1).Children(1), 'YTick', []);
+        set(f.Children(1).Children(1), 'XColor', 'none');
+        set(f.Children(1).Children(1), 'YColor', 'none');
+        
+        % Top-down view
+        nexttile(22, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 0, 90);
+        xlabel(f.Children(1).Children(1), "X"); ylabel(f.Children(1).Children(1), "Y");
+        title(f.Children(1).Children(1), "Top-down View");
+
+        % Side-on view
+        nexttile(23, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 90, 0);
+        ylabel(f.Children(1).Children(1), "Y"); zlabel(f.Children(1).Children(1), "Z");
+        title(f.Children(1).Children(1), "Side-on View");
+
+        % Front-on view
+        nexttile(24, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 0, 0);
+        xlabel(f.Children(1).Children(1), "X"); zlabel(f.Children(1).Children(1), "Z");
+        title(f.Children(1).Children(1), "Front-on View");
+
+        % Partitioning
+        nexttile(25, [1, 1]);
+        axes(f.Children(1).Children(1));
+        axis(f.Children(1).Children(1), "image");
+        grid(f.Children(1).Children(1), "on");
+        view(f.Children(1).Children(1), 0, 90);
+        xlabel(f.Children(1).Children(1), "X"); ylabel(f.Children(1).Children(1), "Y");
+        title(f.Children(1).Children(1), "Domain Partitioning");
+        set(f.Children(1).Children(1), 'XTickLabelMode', 'manual');
+        set(f.Children(1).Children(1), 'YTickLabelMode', 'manual');
+        set(f.Children(1).Children(1), 'XTickLabel', {});
+        set(f.Children(1).Children(1), 'YTickLabel', {});
+        set(f.Children(1).Children(1), 'XTick', []);
+        set(f.Children(1).Children(1), 'YTick', []);
     end
 end

geometries/REGION_TYPE.m

@@ -8,6 +8,7 @@ classdef REGION_TYPE
         DOMAIN (1, [0, 0, 0]); % domain region
         OBSTACLE (2, [255, 127, 127]); % obstacle region
         COLLISION (3, [255, 255, 128]); % collision avoidance region
+        FOV (4, [255, 165, 0]); % field of view region
     end
     methods
         function obj = REGION_TYPE(id, color)

geometries/cone.m

@@ -0,0 +1,82 @@
+classdef cone
+    % Conical geometry
+    properties (SetAccess = private, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+        label = "";
+
+        % Spatial
+        center = NaN;
+        radius = NaN;
+        height = NaN;
+
+        % Plotting
+        surface;
+        n = 32;
+    end
+
+    methods
+        function obj = initialize(obj, center, radius, height, tag, label)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+                center (1, 3) double;
+                radius (1, 1) double;
+                height (1, 1) double;
+                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+                label (1, 1) string = "";
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+            end
+
+            obj.center = center;
+            obj.radius = radius;
+            obj.height = height;
+            obj.tag = tag;
+            obj.label = label;
+        end
+        function [obj, f] = plot(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            % Plot cone
+            [X, Y, Z] = cylinder([obj.radius, 0], obj.n);
+            
+            % Scale to match height
+            Z = Z * obj.height;
+
+            % Move to center location
+            X = X + obj.center(1);
+            Y = Y + obj.center(2);
+            Z = Z + obj.center(3);
+
+            % Plot
+            if isnan(ind)
+                o = surf(f.CurrentAxes, X, Y, Z);
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), 'FaceAlpha', 0.25, 'EdgeColor', 'none');
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Copy to other requested tiles
+            if numel(ind) > 1
+                for ii = 2:size(ind, 2)
+                    o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+                end
+            end
+
+            obj.surface = o;
+        end
+    end
+end

geometries/rectangularPrism.m

@@ -0,0 +1,204 @@
+classdef rectangularPrism
+    % Rectangular prism geometry
+    properties (SetAccess = private, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+        label = "";
+
+        % Spatial
+        minCorner = NaN(1, 3);
+        maxCorner = NaN(1, 3);
+        dimensions = NaN(1, 3);
+        center = NaN;
+        footprint = NaN(4, 2);
+
+        % Graph
+        vertices = NaN(8, 3);
+        edges = [1 2; 2 3; 3 4; 4 1;  % bottom square
+            5 6; 6 8; 8 7; 7 5;  % top square
+            1 5; 2 6; 3 8; 4 7]; % vertical edges
+
+        % Plotting
+        lines;
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, bounds, tag, label)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                bounds (2, 3) double;
+                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+                label (1, 1) string = "";
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+            end
+
+            obj.tag = tag;
+            obj.label = label;
+
+            %% Define geometry bounds by LL corner and UR corner
+            obj.minCorner = bounds(1, 1:3);
+            obj.maxCorner = bounds(2, 1:3);
+
+            % Compute L, W, H
+            obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
+
+            % Compute center
+            obj.center = obj.minCorner + obj.dimensions ./ 2;
+
+            % Compute vertices
+            obj.vertices = [obj.minCorner;
+                            obj.maxCorner(1), obj.minCorner(2:3);
+                            obj.maxCorner(1:2), obj.minCorner(3);
+                            obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
+                            obj.minCorner(1:2), obj.maxCorner(3);
+                            obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
+                            obj.minCorner(1), obj.maxCorner(2:3)
+                            obj.maxCorner;];
+
+            % Compute footprint
+            obj.footprint = [obj.minCorner(1:2); ...
+                             [obj.minCorner(1), obj.maxCorner(2)]; ...
+                             [obj.maxCorner(1), obj.minCorner(2)]; ...
+                             obj.maxCorner(1:2)];
+        end
+        function r = random(obj)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+            end
+            arguments (Output)
+                r (1, 3) double
+            end
+            r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
+        end
+        function d = distance(obj, pos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                pos (:, 3) double;
+            end
+            arguments (Output)
+                d (:, 1) double
+            end
+            assert(~obj.contains(pos), "Cannot determine distance for a point inside of the geometry");
+            
+            cPos = NaN(1, 3);
+            for ii = 1:3
+                if pos(ii) < obj.minCorner(ii)
+                    cPos(ii) = obj.minCorner(ii);
+                elseif pos(ii) > obj.maxCorner(ii)
+                    cPos(ii) = obj.maxCorner(ii);
+                else
+                    cPos(ii) = pos(ii);
+                end
+            end
+            d = norm(cPos - pos);
+        end
+        function d = interiorDistance(obj, pos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                pos (:, 3) double;
+            end
+            arguments (Output)
+                d (:, 1) double
+            end
+            assert(obj.contains(pos), "Cannot determine interior distance for a point outside of the geometry");
+
+            % find minimum distance to any face
+            d = min([pos(1) - obj.minCorner(1), ...
+                     pos(2) - obj.minCorner(2), ...
+                     pos(3) - obj.minCorner(3), ...
+                     obj.maxCorner(1) - pos(1), ...
+                     obj.maxCorner(2) - pos(2), ...
+                     obj.maxCorner(3) - pos(3)]);
+        end
+        function c = contains(obj, pos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                pos (:, 3) double;
+            end
+            arguments (Output)
+                c (:, 1) logical
+            end
+            c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2);
+        end
+        function c = containsLine(obj, pos1, pos2)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                pos1 (1, 3) double;
+                pos2 (1, 3) double;
+            end
+            arguments (Output)
+                c (1, 1) logical
+            end
+            
+            d = pos2 - pos1;
+
+            % edge case where the line is parallel to the geometry
+            if abs(d) < 1e-12
+                % check if it happens to start or end inside or outside of
+                % the geometry
+                if obj.contains(pos1) || obj.contains(pos2)
+                    c = true;
+                else
+                    c = false;
+                end
+                return;
+            end
+
+            tmin = -inf;        
+            tmax = inf;
+
+            % Standard case
+            for ii = 1:3
+                t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
+                t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii);
+                tmin = max(tmin, min(t1, t2));
+                tmax = min(tmax, max(t1, t2));
+                if tmin > tmax
+                    c = false;
+                    return;
+                end
+            end
+
+            c = (tmax >= 0) && (tmin <= 1);
+        end
+        function [obj, f] = plotWireframe(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            % Create plotting inputs from vertices and edges
+            X = [obj.vertices(obj.edges(:,1),1), obj.vertices(obj.edges(:,2),1)]';
+            Y = [obj.vertices(obj.edges(:,1),2), obj.vertices(obj.edges(:,2),2)]';
+            Z = [obj.vertices(obj.edges(:,1),3), obj.vertices(obj.edges(:,2),3)]';
+
+            % Plot the boundaries of the geometry into 3D view
+            if isnan(ind)
+                o = plot3(f.CurrentAxes, X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Copy to other requested tiles
+            if numel(ind) > 1
+                for ii = 2:size(ind, 2)
+                    o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+                end
+            end
+
+            obj.lines = o;
+        end
+    end
+end

guidanceModels/gradientAscent.m

@@ -0,0 +1,26 @@
+function nextPos = gradientAscent(sensedValues, sensedPositions, pos, rate)
+    arguments (Input)
+        sensedValues (:, 1) double;
+        sensedPositions (:, 3) double;
+        pos (1, 3) double;
+        rate (1, 1) double = 0.1;
+    end
+    arguments (Output)
+        nextPos(1, 3) double;
+    end
+
+    % As a default, maintain current position
+    if size(sensedValues, 1) == 0 && size(sensedPositions, 1) == 0
+        nextPos = pos;
+        return;
+    end
+    
+    % Select next position by maximum sensed value
+    nextPos = sensedPositions(sensedValues == max(sensedValues), :);
+    nextPos = [nextPos(1, 1:2), pos(3)]; % just in case two get selected, simply pick one
+
+    % rate-limit motion
+    v = nextPos - pos;
+    nextPos = pos + (v / norm(v, 2)) * rate;
+
+end

miSim.m

@@ -3,37 +3,352 @@ classdef miSim
 
     % Simulation parameters
     properties (SetAccess = private, GetAccess = public)
-        domain = rectangularPrismConstraint;
+        timestep = NaN; % delta time interval for simulation iterations
+        partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run
+        maxIter = NaN; % maximum number of simulation iterations
+        domain = rectangularPrism;
         objective = sensingObjective;
-        constraintGeometries = cell(0, 1); % geometries that define constraints within the domain
+        obstacles = cell(0, 1); % geometries that define obstacles within the domain
         agents = cell(0, 1); % agents that move within the domain
+        adjacency = NaN; % Adjacency matrix representing communications network graph
+        partitioning = NaN;
+    end
+
+    properties (Access = private)
+        % Plot objects
+        connectionsPlot; % objects for lines connecting agents in spatial plots
+        graphPlot; % objects for abstract network graph plot
+        partitionPlot; % objects for partition plot
+
+        % Indicies for various plot types in the main tiled layout figure
+        spatialPlotIndices = [6, 4, 3, 2];
+        objectivePlotIndices = [6, 4];
+        networkGraphIndex = 5;
+        partitionGraphIndex = 1;
     end
 
     methods (Access = public)
-        function obj = initialize(obj, domain, objective, agents, constraintGeometries)
+        function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
             arguments (Input)
                 obj (1, 1) {mustBeA(obj, 'miSim')};
-                domain (1, 1) {mustBeConstraintGeometries};
+                domain (1, 1) {mustBeGeometry};
                 objective (1, 1) {mustBeA(objective, 'sensingObjective')};
-                agents (:, 1) cell {mustBeAgents};
-                constraintGeometries (:, 1) cell {mustBeConstraintGeometries} = cell(0, 1);
+                agents (:, 1) cell;
+                timestep (:, 1) double = 0.05;
+                partitoningFreq (:, 1) double = 0.25
+                maxIter (:, 1) double = 1000;
+                obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Define simulation time parameters
+            obj.timestep = timestep;
+            obj.maxIter = maxIter;
+
+            % Define domain
+            obj.domain = domain;
+            obj.partitioningFreq = partitoningFreq;
+
+            % Add geometries representing obstacles within the domain
+            obj.obstacles = obstacles;
+
+            % Define objective
+            obj.objective = objective;
+
+            % Define agents
+            obj.agents = agents;
+
+            % Compute adjacency matrix
+            obj = obj.updateAdjacency();
+
+            % Create initial partitioning
+            obj = obj.partition();
+
+            % Set up initial plot
+            % Set up axes arrangement
+            % Plot domain
+            [obj.domain, f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
+
+            % Plot obstacles
+            for ii = 1:size(obj.obstacles, 1)
+                [obj.obstacles{ii}, f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, f);
+            end
+
+            % Plot objective gradient
+            f = obj.objective.plot(obj.objectivePlotIndices, f);
+
+            % Plot agents and their collision geometries
+            for ii = 1:size(obj.agents, 1)
+                [obj.agents{ii}, f] = obj.agents{ii}.plot(obj.spatialPlotIndices, f);
+            end
+
+            % Plot communication links
+            [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
+
+            % Plot abstract network graph
+            [obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
+
+            % Plot domain partitioning
+            [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
+        end
+        function [obj, f] = run(obj, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            % Set up times to iterate over
+            times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
+            partitioningTimes = times(obj.partitioningFreq:obj.partitioningFreq:size(times, 1));
+
+            % Start video writer
+            v = setupVideoWriter(obj.timestep);
+            v.open();
+
+            for ii = 1:size(times, 1)
+                % Display current sim time
+                t = times(ii);
+                fprintf("Sim Time: %4.2f (%d/%d)\n", t, ii, obj.maxIter)
+
+                % Check if it's time for new partitions
+                updatePartitions = false;
+                if ismember(t, partitioningTimes)
+                    updatePartitions = true;
+                    obj = obj.partition();
+                end
+
+                % Iterate over agents to simulate their motion
+                for jj = 1:size(obj.agents, 1)
+                    obj.agents{jj} = obj.agents{jj}.run(obj.objective, obj.domain, obj.partitioning);
+                end
+    
+                % Update adjacency matrix
+                obj = obj.updateAdjacency;
+    
+                % Update plots
+                [obj, f] = obj.updatePlots(f, updatePartitions);
+
+                % Write frame in to video
+                I = getframe(f);
+                v.writeVideo(I);
+            end
+
+            % Close video file
+            v.close();
+        end
+        function obj = partition(obj)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
             end
             arguments (Output)
                 obj (1, 1) {mustBeA(obj, 'miSim')};
             end
 
-            %% Define domain
-            obj.domain = domain;
+            % Assess sensing performance of each agent at each sample point
+            % in the domain
+            agentPerformances = cellfun(@(x) reshape(x.sensorModel.sensorPerformance(x.pos, x.pan, x.tilt, [obj.objective.X(:), obj.objective.Y(:), zeros(size(obj.objective.X(:)))]), size(obj.objective.X)), obj.agents, 'UniformOutput', false);
+            agentPerformances = cat(3, agentPerformances{:});
             
-            %% Add constraint geometries against the domain
-            obj.constraintGeometries = constraintGeometries;
+            % Get highest performance value at each point
+            [~, idx] = max(agentPerformances, [], 3);
 
-            %% Define objective
-            obj.objective = objective;
+            % Collect agent indices in the same way
+            agentInds = cellfun(@(x) x.index * ones(size(obj.objective.X)), obj.agents, 'UniformOutput', false);
+            agentInds = cat(3, agentInds{:});
 
-            %% Define agents
-            obj.agents = agents;
+            % Get highest performing agent's index
+            [m,n,~] = size(agentInds);
+            [i,j] = ndgrid(1:m, 1:n);
+            obj.partitioning = agentInds(sub2ind(size(agentInds), i, j, idx));
+        end
+        function [obj, f] = updatePlots(obj, f, updatePartitions)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+                updatePartitions (1, 1) logical = false;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
 
+            % Update agent positions, collision geometries
+            for ii = 1:size(obj.agents, 1)
+                obj.agents{ii}.updatePlots();
+            end
+
+            % The remaining updates might be possible to do in a clever way
+            % that moves existing lines instead of clearing and 
+            % re-plotting, which is much better for performance boost
+
+            % Update agent connections plot
+            delete(obj.connectionsPlot);
+            [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
+
+            % Update network graph plot
+            delete(obj.graphPlot);
+            [obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
+
+            % Update partitioning plot
+            if updatePartitions
+                delete(obj.partitionPlot);
+                [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
+            end
+
+            % reset plot limits to fit domain
+            for ii = 1:size(obj.spatialPlotIndices, 2)
+                xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+                ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+                zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+            end
+
+            drawnow;
+        end
+        function obj = updateAdjacency(obj)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+            end
+
+            % Initialize assuming only self-connections
+            A = logical(eye(size(obj.agents, 1)));
+
+            % Check lower triangle off-diagonal connections
+            for ii = 2:size(A, 1)
+                for jj = 1:(ii - 1)
+                    if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) <= min([obj.agents{ii}.comRange, obj.agents{jj}.comRange])
+                        % Make sure that obstacles don't obstruct the line
+                        % of sight, breaking the connection
+                        for kk = 1:size(obj.obstacles, 1)
+                            if ~obj.obstacles{kk}.containsLine(obj.agents{ii}.pos, obj.agents{jj}.pos)
+                                A(ii, jj) = true;
+                            end
+                        end
+                        % need extra handling for cases with no obstacles
+                        if isempty(obj.obstacles)
+                            A(ii, jj) = true;
+                        end
+                    end
+                end
+            end
+
+            obj.adjacency = A | A';
+        end
+        function [obj, f] = plotConnections(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Iterate over lower triangle off-diagonal region of the 
+            % adjacency matrix to plot communications links between agents
+            X = []; Y = []; Z = [];
+            for ii = 2:size(obj.adjacency, 1)
+                for jj = 1:(ii - 1)
+                    if obj.adjacency(ii, jj)
+                        X = [X; obj.agents{ii}.pos(1), obj.agents{jj}.pos(1)];
+                        Y = [Y; obj.agents{ii}.pos(2), obj.agents{jj}.pos(2)];
+                        Z = [Z; obj.agents{ii}.pos(3), obj.agents{jj}.pos(3)];
+                    end
+                end
+            end
+            X = X'; Y = Y'; Z = Z';
+
+            % Plot the connections
+            if isnan(ind)
+                hold(f.CurrentAxes, "on");
+                o = plot3(f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+                hold(f.CurrentAxes, "off");
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Copy to other plots
+            if size(ind, 2) > 1
+                for ii = 2:size(ind, 2)
+                    o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+                end 
+            end
+
+            obj.connectionsPlot = o;
+        end
+        function [obj, f] = plotPartitions(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            if isnan(ind)
+                hold(f.CurrentAxes, 'on');
+                o = imagesc(f.CurrentAxes, obj.partitioning);
+                hold(f.CurrentAxes, 'off');
+            else
+                hold(f.Children(1).Children(ind(1)), 'on');
+                o = imagesc(f.Children(1).Children(ind(1)), obj.partitioning);
+                hold(f.Children(1).Children(ind(1)), 'on');
+                if size(ind, 2) > 1
+                    for ii = 2:size(ind, 2)
+                        o = [o, copyobj(o(1), f.Children(1).Children(ind(ii)))];
+                    end
+                end
+            end
+            obj.partitionPlot = o;
+
+        end
+        function [obj, f] = plotGraph(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Form graph from adjacency matrix
+            G = graph(obj.adjacency, 'omitselfloops');
+
+            % Plot graph object
+            if isnan(ind)
+                hold(f.CurrentAxes, 'on');
+                o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+                hold(f.CurrentAxes, 'off');
+            else
+                hold(f.Children(1).Children(ind(1)), 'on');
+                o = plot(f.Children(1).Children(ind(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+                hold(f.Children(1).Children(ind(1)), 'off');
+                if size(ind, 2) > 1
+                    for ii = 2:size(ind, 2)
+                        o = [o; copyobj(o(1), f.Children(1).Children(ind(ii)))];
+                    end
+                end
+            end
+            obj.graphPlot = o;
         end
     end
 

miSim.prj

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile"/>

rectangularPrismConstraint.m

@@ -1,106 +0,0 @@
-classdef rectangularPrismConstraint
-    % Rectangular prism constraint geometry
-    properties (SetAccess = private, GetAccess = public)
-        tag = REGION_TYPE.INVALID;
-        label = "";
-
-        minCorner = NaN(3, 1);
-        maxCorner = NaN(3, 1);
-
-        dimensions = NaN(3, 1);
-
-        center = NaN;
-
-        vertices = NaN(8, 3);
-
-        footprint = NaN(2, 4);
-    end
-
-    methods (Access = public)
-        function obj = initialize(obj, bounds, tag, label)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
-                bounds (3, 2) double;
-                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
-                label (1, 1) string = "";
-            end
-            arguments (Output)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
-            end
-
-            obj.tag = tag;
-            obj.label = label;
-
-            %% Define geometry bounds by LL corner and UR corner
-            obj.minCorner = bounds(:, 1);
-            obj.maxCorner = bounds(:, 2);
-
-            % Compute L, W, H
-            obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
-
-            % Compute center
-            obj.center = obj.minCorner + obj.dimensions ./ 2;
-
-            % Compute vertices
-            obj.vertices = [obj.minCorner';
-                            obj.maxCorner(1), obj.minCorner(2:3)';
-                            obj.maxCorner(1:2)', obj.minCorner(3);
-                            obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
-                            obj.minCorner(1:2)', obj.maxCorner(3);
-                            obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
-                            obj.minCorner(1), obj.maxCorner(2:3)'
-                            obj.maxCorner';];
-
-            % Compute footprint
-            obj.footprint = [obj.minCorner(1:2, 1), ...
-                             [obj.minCorner(1, 1); obj.maxCorner(2, 1)], ...
-                             [obj.maxCorner(1, 1); obj.minCorner(2, 1)], ...
-                             obj.maxCorner(1:2, 1)];
-        end
-        function r = random(obj)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
-            end
-            arguments (Output)
-                r (1, 3) double
-            end
-            r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
-        end
-        function c = contains(obj, pos)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
-                pos (:, 3) double;
-            end
-            arguments (Output)
-                c (1, 1) logical
-            end
-            c = all(pos >= repmat(obj.minCorner', size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner', size(pos, 1), 1), 2);
-        end
-        function f = plotWireframe(obj, f)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
-                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
-            end
-            arguments (Output)
-                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
-            end
-
-            % Create axes if they don't already exist
-            f = firstPlotSetup(f);
-
-            edges = [1 2; 2 3; 3 4; 4 1;  % bottom square
-                5 6; 6 8; 8 7; 7 5;  % top square
-                1 5; 2 6; 3 8; 4 7]; % vertical edges
-
-            % Create plotting inputs from vertices and edges
-            X = [obj.vertices(edges(:,1),1), obj.vertices(edges(:,2),1)]';
-            Y = [obj.vertices(edges(:,1),2), obj.vertices(edges(:,2),2)]';
-            Z = [obj.vertices(edges(:,1),3), obj.vertices(edges(:,2),3)]';
-
-            % Plot the boundaries of the constraint geometry
-            hold(f.CurrentAxes, "on");
-            plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
-            hold(f.CurrentAxes, "off");
-        end
-    end
-end

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/4-Vh5fQn4oEziz1w72O3jpEw0yMd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="sensingModels" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/4-Vh5fQn4oEziz1w72O3jpEw0yMp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/HYICfq4P1rcDM3M3ck-Bdx9axZ8d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="geometries" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/HYICfq4P1rcDM3M3ck-Bdx9axZ8p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="5e8de0f6-dbb2-499b-a851-32a867fd50c2" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/LBBP3VzTDNqtmQGoBzn8TyGr_JYd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/LBBP3VzTDNqtmQGoBzn8TyGr_JYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="7d58d2d3-2500-426a-b99d-912a79467335" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="guidanceModels" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1d8d2b42-2863-4985-9cf2-980917971eba" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/Zft-eetWhSiBfHeQkgT2iI9nSuId.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="sandbox" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/Zft-eetWhSiBfHeQkgT2iI9nSuIp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="ff13e617-a2ad-49b1-a9b5-668ac2cffc4a" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/bC9JguT7xdg6hTVY9GqmttWOU6Ud.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="validators" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/bC9JguT7xdg6hTVY9GqmttWOU6Up.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="5f96e524-3aac-4fa1-95df-67fd6ce02ff3" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="validators/arguments" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMp.xml

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