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base: kdee/miSim:789aecc560d35d2df1a7dc7ddb12d016cbe22806
Branches Tags
kdee/miSim:main kdee/miSim:AERPAW-experiments kdee/miSim:spawc-2026-results kdee/miSim:aerpaw2 kdee/miSim:parametric-testing kdee/miSim:gradient-ascent kdee/miSim:more-cleanup kdee/miSim:tessellation-fixes kdee/miSim:sensor-model-tessellation
...
compare: kdee/miSim:a30dfe6be77258f3f1f350b2301018bbdf94ce20
Branches Tags
kdee/miSim:AERPAW-experiments kdee/miSim:main kdee/miSim:spawc-2026-results kdee/miSim:aerpaw2 kdee/miSim:parametric-testing kdee/miSim:gradient-ascent kdee/miSim:more-cleanup kdee/miSim:tessellation-fixes kdee/miSim:sensor-model-tessellation

10 Commits
789aecc560 ... a30dfe6be7

Author SHA1 Message Date
kdee a30dfe6be7 ran 3 new experiments on AERPAW simulation to test before submitting 2026-05-25 14:07:49 -07:00
kdee 9c65bf7880 fixed multi-objective support, collected sim data on 3 new experiments 2026-05-24 20:28:12 -07:00
kdee fbcaa32abd first experiment tweaks 2026-04-08 09:41:30 -07:00
kdee 09a10abfd5 controller logging and analysis improvements 2026-04-08 00:02:54 -07:00
kdee 87060ca123 analysis script fixes 2026-04-06 21:34:48 -07:00
kdee f7902ee220 space out flyouts further 2026-04-06 20:30:55 -07:00
kdee 5c90219322 aerpaw collision distance log monitoring 2026-04-06 19:34:15 -07:00
kdee d3bdc80e64 scaled up scenario for better collision safety 2026-04-06 18:44:17 -07:00
kdee f3f9ec3db2 added minimum command spacing log parser and check 2026-04-06 18:16:00 -07:00
kdee 9564a5707f AERPAW bug fixes for first experiment 2026-04-05 14:54:56 -07:00
21 changed files with 481 additions and 190 deletions
Expand all files Collapse all files
.gitignore
+1
View File
@@ -4,6 +4,7 @@
*.autosave
*.slx.r*
*.mdl.r*
*.bak
# Derived content-obscured files
*.p
@miSim/miSim.m
+1 -1
View File
@@ -69,7 +69,7 @@ classdef miSim
obj.obstacles = {rectangularPrism};
obj.agents = {agent};
end
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo);
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology);
[obj] = initializeFromCsv(obj, csvPath);
[obj] = initializeFromInits(obj, initsPath);
[obj] = plotFromSimHist(obj, initsPath, histPath);
@miSim/run.m
+4
View File
@@ -11,6 +11,10 @@ function [obj] = run(obj)
if obj.makeVideo
v = obj.setupVideoWriter();
v.open();
% Write initialization state frame in to video
I = getframe(obj.f);
v.writeVideo(I);
end
end
aerpaw/config/scenario.csv
+1 -1
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, 100, 30.0, 0.1, 2.0, 5, 1, 1, "6.0, 6.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1
1, 50, 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, "10.0, 10.0, 50.0, 40.0, 15.0, 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
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
2 1 100 50 30.0 35.0 0.1 2.0 5 6 1 1 6.0, 6.0 8.0, 8.0 25.0, 25.0 35.0, 35.0 80.0, 80.0 80.0, 50.0 0.25, 0.25 0.25, 1.0 5.0, 5.0 8.0, 25.0 0.1, 0.1 0.1, 0.02 0.0, 0.0, 0.0 80.0, 80.0, 80.0 100.0, 100.0, 100.0 55.0, 55.0 60.0, 80.0, 45.0, 70.0 40, 25, 25, 40 70, 15, 15, 20, 20, 15, 15, 70 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 10.0, 10.0, 50.0, 40.0, 15.0, 45.0 1 8 1.0, 25.0, 0.0 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 30.0, 30.0, 50.0 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 1 0 2.0 1
aerpaw/config/scenario_columns.csv
+2
View File
@@ -0,0 +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
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
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
aerpaw/config/scenario_lock.csv
+2
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@@ -0,0 +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, 125, 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", "30.0, 80.0", "60, 20, 20, 30", 0.15, "65.0, 15.0, 65.0, 65.0, 15.0, 45.0", 3, "0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0", "100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0", 0, 2.0, 1
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
2 1 125 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 30.0, 80.0 60, 20, 20, 30 0.15 65.0, 15.0, 65.0, 65.0, 15.0, 45.0 3 0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0 100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0 0 2.0 1
aerpaw/config/scenario_two_around_wall.csv
+2
View File
@@ -0,0 +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, 100, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 80.0", "0.25, 0.25", "8.0, 8.0", "0.1, 0.1", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "66.6, 66.6", "55, 35, 35, 55", 0.15, "15.0, 15.0, 50.0, 40.0, 15.0, 50.0", 1, "0.0, 35.0, 0.0", "50, 40.0, 60", 1, 2.0, 1
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
2 1 100 35.0 0.1 2.0 6 1 1 8.0, 8.0 35.0, 35.0 80.0, 80.0 0.25, 0.25 8.0, 8.0 0.1, 0.1 0.0, 0.0, 0.0 100.0, 100.0, 100.0 66.6, 66.6 55, 35, 35, 55 0.15 15.0, 15.0, 50.0, 40.0, 15.0, 50.0 1 0.0, 35.0, 0.0 50, 40.0, 60 1 2.0 1
aerpaw/config/scenario_walls.csv
+2
View File
@@ -0,0 +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, 125, 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", "30.0, 80.0", "60, 20, 20, 30", 0.15, "90.0, 10.0, 50.0, 65.0, 15.0, 45.0", 4, "0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0", "50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0", 0, 2.0, 1
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
2 1 125 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 30.0, 80.0 60, 20, 20, 30 0.15 90.0, 10.0, 50.0, 65.0, 15.0, 45.0 4 0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0 50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0 0 2.0 1
aerpaw/controller.coderprj
+152 -125
View File
@@ -158,6 +158,21 @@
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="32" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="33" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
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<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
</Types>
</coderapp.internal.interface.project.Interface>
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@@ -411,749 +426,761 @@
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aerpaw/controller.m
+118 -34
View File
@@ -7,57 +7,47 @@ coder.extrinsic('disp', 'readScenarioCsv');
% Maximum clients supported (one initial position per UAV)
MAX_CLIENTS = 4;
% Two waypoints per UAV: altitude-staggered transit + final position
MAX_TARGETS = MAX_CLIENTS * 2;
% Three waypoints per UAV: one axis-aligned move per dimension (taxicab flyout/flyback)
MAX_TARGETS = MAX_CLIENTS * 3;
% Taxicab flyout/flyback only supports exactly 2 UAVs
if numClients ~= int32(2)
error('Taxicab flyout/flyback requires exactly 2 UAVs');
end
% Allocate targets array (MAX_TARGETS x 3)
targets = zeros(MAX_TARGETS, 3);
numWaypoints = int32(0);
totalLoaded = int32(0); % pre-declare type for coder.ceval %#ok<NASGU>
% Load initial UAV positions from scenario CSV
% Experiment start positions from scenario CSV (N x 3)
scenarioPositions = zeros(MAX_CLIENTS, 3);
% Load experiment start positions from scenario CSV
if coder.target('MATLAB')
disp('Loading initial positions from scenario.csv (simulation)...');
tmpSim = miSim;
sc = tmpSim.readScenarioCsv('aerpaw/config/scenario.csv');
flatPos = double(sc.initialPositions); % 1×(3*N) flat vector
posMatrix = reshape(flatPos, 3, [])'; % N×3, same layout as initializeFromCsv
posMatrix = reshape(flatPos, 3, [])'; % N×3
totalLoaded = int32(size(posMatrix, 1));
scenarioPositions(1:totalLoaded, :) = posMatrix;
% MATLAB path: send directly to scenario positions in one waypoint
targets(1:totalLoaded, :) = posMatrix;
numWaypoints = int32(1);
disp(['Loaded ', num2str(double(totalLoaded)), ' initial positions']);
else
coder.cinclude('controller_impl.h');
filename = ['config/scenario.csv', char(0)];
% Load into targets temporarily; copy to scenarioPositions below
totalLoaded = coder.ceval('loadInitialPositions', coder.ref(filename), ...
coder.ref(targets), int32(MAX_TARGETS));
numWaypoints = totalLoaded / int32(numClients);
end
% In the compiled path, inject altitude-staggered transit waypoints so UAVs
% are vertically separated while flying horizontally to their start positions.
% ArduPilot reaches target altitude before horizontal movement, so UAV i is at
% altitude (TRANSIT_ALT_BASE + (i-1)*TRANSIT_ALT_STEP) throughout its transit,
% preventing collisions regardless of horizontal path geometry.
% TRANSIT_ALT_STEP must exceed 2 * max(collisionRadius).
% Waypoint 1: each UAV flies to (finalX, finalY) at its unique transit altitude.
% Waypoint 2: each UAV adjusts to its actual target altitude.
if ~coder.target('MATLAB')
TRANSIT_ALT_BASE = 25.0; % must match drone.takeoff() altitude in uav_runner.py
TRANSIT_ALT_STEP = 12.1; % vertical separation per UAV (m); must exceed 2*collisionRadius
for ii = double(totalLoaded):-1:1
transitRow = (ii - 1) * 2 + 1;
finalRow = (ii - 1) * 2 + 2;
finalPos = targets(ii, :);
transitAlt = TRANSIT_ALT_BASE + (ii - 1) * TRANSIT_ALT_STEP;
targets(finalRow, :) = finalPos;
targets(transitRow, :) = [finalPos(1), finalPos(2), transitAlt];
end
numWaypoints = int32(2);
scenarioPositions(1:totalLoaded, :) = targets(1:totalLoaded, :);
numWaypoints = int32(3);
end
% Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 45;
NUM_SCENARIO_PARAMS = 48;
MAX_OBSTACLES_CTRL = int32(8);
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);
@@ -91,6 +81,46 @@ for i = 1:numClients
end
end
% Query takeoff-pad GPS positions before sending any waypoints.
% These are also the flyback targets so each UAV lands where it took off.
initialPositions = zeros(MAX_CLIENTS, 3);
if ~coder.target('MATLAB')
coder.ceval('sendRequestPositions', int32(numClients));
coder.ceval('recvPositions', int32(numClients), coder.ref(initialPositions), int32(MAX_CLIENTS));
else
% Simulation: treat scenario positions as the takeoff locations
initialPositions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
end
% ---- Build taxicab flyout waypoints ------------------------------------------
% Determine which UAV has the higher final altitude; it moves Z first so it
% clears vertical separation before the lower UAV converges on the same X/Y.
% Higher UAV order: Z → Y → X
% Lower UAV order: X → Y → Z
if ~coder.target('MATLAB')
if scenarioPositions(1, 3) >= scenarioPositions(2, 3)
higherIdx = int32(1);
lowerIdx = int32(2);
else
higherIdx = int32(2);
lowerIdx = int32(1);
end
hBase = double(higherIdx - 1) * double(numWaypoints);
lBase = double(lowerIdx - 1) * double(numWaypoints);
% Higher UAV: Z first
targets(hBase + 1, :) = [initialPositions(higherIdx,1), initialPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
targets(hBase + 2, :) = [initialPositions(higherIdx,1), scenarioPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
targets(hBase + 3, :) = scenarioPositions(higherIdx, :);
% Lower UAV: X first
targets(lBase + 1, :) = [scenarioPositions(lowerIdx,1), initialPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
targets(lBase + 2, :) = [scenarioPositions(lowerIdx,1), scenarioPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
targets(lBase + 3, :) = scenarioPositions(lowerIdx, :);
end
% ------------------------------------------------------------------------------
% Waypoint loop: send each waypoint to all clients, wait for all to arrive
for w = 1:numWaypoints
% Send TARGET for waypoint w to each client
@@ -101,7 +131,7 @@ for w = 1:numWaypoints
target = targets(targetIdx, :);
if coder.target('MATLAB')
disp([datestr(now, 'HH:MM:SS'), ' Sending TARGET to client ', num2str(i), ' (waypoint ', num2str(w), '): ', ...
disp(['Sending TARGET to client ', num2str(i), ' (waypoint ', num2str(w), '): ', ...
num2str(target(1)), ',', num2str(target(2)), ',', num2str(target(3))]);
else
coder.ceval('sendTarget', int32(i), coder.ref(target));
@@ -126,8 +156,13 @@ for w = 1:numWaypoints
end
% ---- Phase 2: miSim guidance loop ----------------------------------------
% Guidance parameters (adjust here and recompile as needed)
MAX_GUIDANCE_STEPS = int32(100); % number of guidance iterations
% Number of guidance steps comes from maxIter in scenario.csv (scenarioParams(2))
% so the controller and the agent step-decay schedule stay in sync.
if coder.target('MATLAB')
MAX_GUIDANCE_STEPS = int32(sc.maxIter);
else
MAX_GUIDANCE_STEPS = int32(scenarioParams(2));
end
% Enter guidance mode on all clients
if ~coder.target('MATLAB')
@@ -140,14 +175,18 @@ if ~coder.target('MATLAB')
coder.ceval('sendRequestPositions', int32(numClients));
coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
else
% Simulation: seed positions from CSV waypoints so agents don't start at origin
positions(1:totalLoaded, :) = targets(1:totalLoaded, :);
% Simulation: seed positions from scenario positions so agents don't start at origin
positions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
end
guidance_step(positions(1:numClients, :), true, ...
scenarioParams, obstacleMin, obstacleMax, numObstacles);
% Main guidance loop (event-triggered)
for step = 1:MAX_GUIDANCE_STEPS
if ~coder.target('MATLAB')
coder.ceval('setGuidanceStep', int32(step), int32(MAX_GUIDANCE_STEPS));
end
% Run one guidance step: feed current GPS positions in, get targets out
nextPositions = guidance_step(positions(1:numClients, :), false, ...
scenarioParams, obstacleMin, obstacleMax, numObstacles);
@@ -158,7 +197,7 @@ for step = 1:MAX_GUIDANCE_STEPS
if ~coder.target('MATLAB')
coder.ceval('sendTarget', int32(i), coder.ref(target));
else
disp([datestr(now, 'HH:MM:SS'), ' [guidance] target UAV ', num2str(i), ': ', num2str(target)]);
disp(['[step ', num2str(step), '] target UAV ', num2str(i), ': ', num2str(target)]);
end
end
@@ -187,6 +226,51 @@ if ~coder.target('MATLAB')
% last guidance navigation and is back in sequential (ACK/READY) mode.
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.ACK));
% Reset step counter so post-guidance logging carries no step prefix.
coder.ceval('setGuidanceStep', int32(0), int32(MAX_GUIDANCE_STEPS));
end
% --------------------------------------------------------------------------
% ---- Taxicab flyback: return each UAV to its takeoff-pad position ---------
% The UAV that ended guidance at the higher altitude moves Z last (X → Y → Z)
% so it stays high while the lower UAV descends first, maintaining separation
% as both converge back on their respective home X/Y positions.
NUM_RETURN_WP = int32(3);
returnTargets = zeros(MAX_TARGETS, 3);
if ~coder.target('MATLAB')
if positions(1, 3) >= positions(2, 3)
higherRetIdx = int32(1);
lowerRetIdx = int32(2);
else
higherRetIdx = int32(2);
lowerRetIdx = int32(1);
end
hRetBase = double(higherRetIdx - 1) * double(NUM_RETURN_WP);
lRetBase = double(lowerRetIdx - 1) * double(NUM_RETURN_WP);
% Higher post-guidance UAV: X → Y → Z (descend last)
returnTargets(hRetBase + 1, :) = [initialPositions(higherRetIdx,1), positions(higherRetIdx,2), positions(higherRetIdx,3)];
returnTargets(hRetBase + 2, :) = [initialPositions(higherRetIdx,1), initialPositions(higherRetIdx,2), positions(higherRetIdx,3)];
returnTargets(hRetBase + 3, :) = initialPositions(higherRetIdx, :);
% Lower post-guidance UAV: Z → Y → X (descend first)
returnTargets(lRetBase + 1, :) = [positions(lowerRetIdx,1), positions(lowerRetIdx,2), initialPositions(lowerRetIdx,3)];
returnTargets(lRetBase + 2, :) = [positions(lowerRetIdx,1), initialPositions(lowerRetIdx,2), initialPositions(lowerRetIdx,3)];
returnTargets(lRetBase + 3, :) = initialPositions(lowerRetIdx, :);
for w = 1:NUM_RETURN_WP
for i = 1:numClients
retIdx = double(i - 1) * double(NUM_RETURN_WP) + w;
retTarget = returnTargets(retIdx, :);
coder.ceval('sendTarget', int32(i), coder.ref(retTarget));
end
coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.ACK));
coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.READY));
end
else
disp('Taxicab return (simulation): UAVs commanded back to takeoff positions.');
end
% --------------------------------------------------------------------------
aerpaw/guidance_step.m
+13 -3
View File
@@ -29,6 +29,9 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% 39-40 objectivePos
% 41-44 objectiveVar (2x2, col-major)
% 45 sensorPerformanceMinimum
% 46 useDoubleIntegrator
% 47 dampingCoeff
% 48 useFixedTopology
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count
@@ -94,6 +97,9 @@ if isInit
OBJECTIVE_GROUND_POS = scenarioParams(39:40);
OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45);
USE_DOUBLE_INTEGRATOR = logical(scenarioParams(46));
DAMPING_COEFF = scenarioParams(47);
USE_FIXED_TOPOLOGY = logical(scenarioParams(48));
% --- Build domain geometry ---
dom = rectangularPrism;
@@ -146,7 +152,8 @@ if isInit
% --- Initialise simulation (plots and video disabled) ---
sim = miSim;
sim = sim.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false);
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
end
% On the init call return current positions unchanged
@@ -176,7 +183,9 @@ else
sim.timestepIndex = sim.timestepIndex + 1;
% 3. Update communications topology (Lesser Neighbour Assignment)
sim = sim.lesserNeighbor();
if ~sim.useFixedTopology
sim = sim.lesserNeighbor();
end
% 4. Compute Voronoi partitioning
sim.partitioning = sim.agents{1}.partition(sim.agents, sim.domain.objective);
@@ -184,7 +193,8 @@ else
% 5. Unconstrained gradient-ascent step for each agent
for ii = 1:size(sim.agents, 1)
sim.agents{ii} = sim.agents{ii}.run(sim.domain, sim.partitioning, ...
sim.timestepIndex, ii, sim.agents);
sim.timestepIndex, ii, sim.agents, ...
sim.useDoubleIntegrator, sim.dampingCoeff, sim.timestep);
end
% 6. Apply CBF safety filter (collision / comms / domain constraints via QP)
aerpaw/impl/controller_impl.cpp
+81 -19
View File
@@ -16,6 +16,44 @@
static int serverSocket = -1;
static std::vector<int> clientSockets;
static int guidanceStep = 0;
static int guidanceTotalSteps = 0;
static struct timespec lastStepTime = {0, 0};
// During guidance returns "(%d/%d) "; outside guidance returns "HH:MM:SS ".
static std::string logPrefix() {
if (guidanceStep > 0) {
char buf[32];
snprintf(buf, sizeof(buf), "(%d/%d) ", guidanceStep, guidanceTotalSteps);
return std::string(buf);
}
time_t now = time(nullptr);
struct tm* lt = localtime(&now);
char ts[16];
strftime(ts, sizeof(ts), "%H:%M:%S", lt);
return std::string(ts) + " ";
}
void setGuidanceStep(int step, int totalSteps) {
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
// From step 2 onward, elapsed = setGuidanceStep(N-1) → setGuidanceStep(N),
// which spans the full prior iteration: guidance computation + target send
// + flight + position request/receive.
if (step > 1 && lastStepTime.tv_sec != 0) {
double elapsed = (now.tv_sec - lastStepTime.tv_sec)
+ (now.tv_nsec - lastStepTime.tv_nsec) * 1e-9;
guidanceStep = step;
guidanceTotalSteps = totalSteps;
std::cout << logPrefix() << "Iteration duration: " << elapsed << " s\n";
} else {
guidanceStep = step;
guidanceTotalSteps = totalSteps;
}
lastStepTime = now;
}
void initSockets() {}
void cleanupSockets() {}
@@ -186,7 +224,10 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// 35-37: domainMax (east, north, up)
// 38-39: objectivePos (east, north)
// 40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 44 : sensorPerformanceMinimum
// 44 : sensorPerformanceMinimum (CSV column 18)
// 45 : useDoubleIntegrator (CSV column 23; 0=single-integrator, 1=double-integrator)
// 46 : dampingCoeff (CSV column 24)
// 47 : useFixedTopology (CSV column 25; 0=dynamic lesser-neighbor, 1=fixed)
// Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) {
char line[4096];
@@ -198,8 +239,8 @@ int loadScenario(const char* filename, double* params) {
char* fields[32];
int nf = splitCSVRow(copy, fields, 32);
if (nf < 19) {
fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
if (nf < 26) {
fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
return 0;
}
@@ -290,6 +331,24 @@ int loadScenario(const char* filename, double* params) {
params[44] = atof(trimField(tmp));
}
// useDoubleIntegrator: column 23
{
char tmp[64]; strncpy(tmp, fields[23], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[45] = atof(trimField(tmp));
}
// dampingCoeff: column 24
{
char tmp[64]; strncpy(tmp, fields[24], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[46] = atof(trimField(tmp));
}
// useFixedTopology: column 25
{
char tmp[64]; strncpy(tmp, fields[25], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[47] = atof(trimField(tmp));
}
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
params[32], params[33], params[34], params[35], params[36], params[37]);
return 1;
@@ -430,18 +489,22 @@ static const char* messageTypeName(uint8_t msgType) {
}
}
// Send a single-byte message type to a client
int sendMessageType(int clientId, int msgType) {
// Send a single-byte message type to a client (no logging)
static int sendMessageTypeRaw(int clientId, int msgType) {
if (clientId <= 0 || clientId > (int)clientSockets.size()) return 0;
uint8_t msg = (uint8_t)msgType;
ssize_t sent = send(clientSockets[clientId - 1], &msg, 1, 0);
if (sent != 1) {
std::cerr << "Send failed for client " << clientId << "\n";
return 0;
}
return 1;
}
std::cout << "Sent " << messageTypeName(msg) << " to client " << clientId << "\n";
// Send a single-byte message type to a client
int sendMessageType(int clientId, int msgType) {
if (!sendMessageTypeRaw(clientId, msgType)) return 0;
std::cout << logPrefix() << "Sent " << messageTypeName((uint8_t)msgType) << " to client " << clientId << "\n";
return 1;
}
@@ -460,13 +523,7 @@ int sendTarget(int clientId, const double* coords) {
return 0;
}
// Timestamp
time_t now = time(nullptr);
struct tm* lt = localtime(&now);
char ts[16];
strftime(ts, sizeof(ts), "%H:%M:%S", lt);
std::cout << ts << " Sent TARGET to client " << clientId << ": "
std::cout << logPrefix() << "Sent TARGET to client " << clientId << ": "
<< coords[0] << "," << coords[1] << "," << coords[2] << "\n";
return 1;
}
@@ -514,31 +571,36 @@ int waitForAllMessageType(int numClients, int expectedType) {
return 0;
}
std::cout << "Received " << messageTypeName(msgType) << " from client " << (i + 1) << "\n";
if (msgType == expected) {
completed[i] = true;
completedCount++;
} else {
std::cerr << logPrefix() << "Unexpected " << messageTypeName(msgType)
<< " from client " << (i + 1)
<< " (expected " << messageTypeName(expected) << ")\n";
}
}
}
}
std::cout << logPrefix() << "Received " << messageTypeName(expected) << " from all clients\n";
return 1;
}
// Broadcast GUIDANCE_TOGGLE to all clients
void sendGuidanceToggle(int numClients) {
for (int i = 1; i <= numClients; i++) {
sendMessageType(i, 6); // GUIDANCE_TOGGLE = 6
sendMessageTypeRaw(i, 6); // GUIDANCE_TOGGLE = 6
}
std::cout << logPrefix() << "Sent GUIDANCE_TOGGLE to clients\n";
}
// Send REQUEST_POSITION to all clients
int sendRequestPositions(int numClients) {
for (int i = 1; i <= numClients; i++) {
if (!sendMessageType(i, 7)) return 0; // REQUEST_POSITION = 7
if (!sendMessageTypeRaw(i, 7)) return 0; // REQUEST_POSITION = 7
}
std::cout << logPrefix() << "Sent REQUEST_POSITION to clients\n";
return 1;
}
@@ -573,7 +635,7 @@ int recvPositions(int numClients, double* positions, int maxClients) {
positions[i + 1 * maxClients] = coords[1]; // north (y)
positions[i + 2 * maxClients] = coords[2]; // up (z)
std::cout << "Position from client " << (i + 1) << ": "
std::cout << logPrefix() << "Position from client " << (i + 1) << ": "
<< coords[0] << "," << coords[1] << "," << coords[2] << "\n";
}
return 1;
aerpaw/impl/controller_impl.h
+5 -1
View File
@@ -30,7 +30,10 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// 38-39 objectivePos
// 40-43 objectiveVar (2x2 col-major)
// 44 sensorPerformanceMinimum
#define NUM_SCENARIO_PARAMS 45
// 45 useDoubleIntegrator (0=single-integrator, 1=double-integrator)
// 46 dampingCoeff
// 47 useFixedTopology (0=dynamic lesser-neighbor, 1=fixed)
#define NUM_SCENARIO_PARAMS 48
#define MAX_CLIENTS_PER_PARAM 4
// Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8
@@ -59,6 +62,7 @@ int sendTarget(int clientId, const double* coords);
int waitForAllMessageType(int numClients, int expectedType);
// Guidance loop operations
void setGuidanceStep(int step, int totalSteps); // call at the top of each guidance iteration
void sendGuidanceToggle(int numClients);
int sendRequestPositions(int numClients);
int recvPositions(int numClients, double* positions, int maxClients); // column-major maxClients x 3
aerpaw/results/plotGpsLogs.m
+22
View File
@@ -29,6 +29,7 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel, plotWholeFlight)
logDirs = dir(logDirs);
logDirs = logDirs(3:end);
logDirs = logDirs([logDirs.isdir] == 1);
logDirs = logDirs(~startsWith({logDirs.name}, "controller_"));
G = cell(size(logDirs));
for ii = 1:size(logDirs, 1)
@@ -61,6 +62,27 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel, plotWholeFlight)
enu = array2table(enu, 'VariableNames', ["East", "North", "Up"]);
G{ii} = [G{ii}, enu];
% Do crude comparison of pairwise distances between this UAV and
% all previous UAVs
for jj = 1:(ii - 1)
Ai = G{ii}(:, [1, end-2:end]);
Aj = G{jj}(:, [1, end-2:end]);
% Trim data to match sizes
idx = min([size(Ai, 1), size(Aj, 1)]);
Ai = Ai(1:idx, :); Aj = Aj(1:idx, :);
pos_i = [Ai.East, Ai.North, Ai.Up];
pos_j = [Aj.East, Aj.North, Aj.Up];
d = vecnorm(pos_i - pos_j, 2, 2);
d = d(~isnan(d));
fprintf("Minimum distance between agents %d and %d is %2.3f\n", ii, jj, min(d));
if min(d) < 6
warning("Minimum distance between agents %d and %d of %2.3f is questionable for AERPAW", ii, jj, min(d));
end
end
% Plot recorded trajectory over specified range of indices
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
end
aerpaw/results/readControllerLogs.m
+32
View File
@@ -0,0 +1,32 @@
function T2 = readControllerLogs(filepath)
arguments (Input)
filepath (1, 1) string;
end
arguments (Output)
T2 table;
end
assert(isfile(filepath), "File not found at %s", filepath);
T = readtable(filepath, 'VariableNamingRule', 'preserve');
s = split(T.(T.Properties.VariableNames{1}), ']');
s2 = strip(s(startsWith(s(:, 2), " ("), 1), 'left', '[');
d = datetime(s2, "InputFormat", "yyyy-MM-dd HH:mm:ss.SSSSSS")';
it = s(startsWith(s(:, 2), " ("), 2);
it = str2double(strip(strip(it, 'left'), 'left', '('));
T.Var3 = strip(append(T.Var3, " ", T.Var4, " ", T.Var5, " ", T.Var6, " ", T.Var7));
T.Var4 = []; T.Var5 = []; T.Var6 = []; T.Var7 = [];
msg = T.(T.Properties.VariableNames{2});
msg = msg(startsWith(s(:, 2), " ("), :);
s3 = split(msg, ') ');
s3 = s3(:, 2);
msg = append(s3, T.Var3(startsWith(s(:, 2), " (")));
T2 = table(it, d', msg, 'VariableNames', ["iteration", "timestamp", "message"]);
% T.Var1 = datetime(strip(strip(append(T.Var1, " ", T.Var2), 'left', '['), 'right', ']'), "InputFormat", "yyyy-MM-dd HH:mm:ss.SSSSSS");
% T.Var2 = [];
% T.Var3 = strip(append(T.Var3, " ", T.Var4, " ", T.Var5, " ", T.Var6, " ", string(T.Var7), " ", T.Var8, " ", T.Var9));
% T.Var4 = []; T.Var5 = []; T.Var6 = []; T.Var7 = []; T.Var8 = []; T.Var9 = [];
% T.Properties.VariableNames{1} = 'timestamp';
% T.Properties.VariableNames{2} = 'message';
% T(ismissing(T.message), :) = [];
end
aerpaw/results/readRadioLogs.m
-1
View File
@@ -2,7 +2,6 @@ function R = readRadioLogs(logPath)
arguments (Input)
logPath (1, 1) string {isfolder(logPath)};
end
arguments (Output)
R (:, 8) table;
end
aerpaw/results/resultsAnalysis.m
+21 -1
View File
@@ -1,10 +1,30 @@
%% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
% Measure intervals between issuing commands from the controller
% (make sure this is ~4-5 seconds at minimum to avoid overwhelming the UAV autopilot)
r = dir(resultsPath);
controllerPath = fullfile(r(startsWith({r.name}, 'controller_')).folder, r(startsWith({r.name}, 'controller_')).name);
controllerPath = dir(controllerPath);
controllerPath = fullfile(controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).folder, controllerPath(endsWith({controllerPath.name}, '_controller_log.txt')).name);
controller = readControllerLogs(controllerPath);
rpIdx = startsWith(controller.message, "Iteration duration: ");
s = split(controller.message(rpIdx), "Iteration duration: ");
s = split(s(:, 2), ' s');
s = duration(strcat("00:", s(:, 1)), "InputFormat", "mm:ss.SSS");
s.Format = "mm:ss.SSS";
fprintf("Minimum command spacing: %2.3f seconds\n", seconds(min(s)));
fprintf("Maximum command spacing: %2.3f seconds\n", seconds(max(s)));
fprintf("Mean command spacing: %2.3f seconds\n", seconds(mean(s)));
fprintf("Median command spacing: %2.3f seconds\n", seconds(median(s)));
if seconds(min(s)) < 4
warning("Minimum command spacing %2.3f questionably short for AERPAW", seconds(min(s)));
end
% Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer
plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)
% [fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
% Plot radio statistics
[fRadio, R] = plotRadioLogs(resultsPath);
resources/project/cCclYJTOop6jkdZsItlf7iNuov4/boyWn-mt0RFdVNBj1mgEcGMQh_Ed.xml
+6
View File
@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info>
<Category UUID="FileClassCategory">
<Label UUID="design"/>
</Category>
</Info>
resources/project/cCclYJTOop6jkdZsItlf7iNuov4/boyWn-mt0RFdVNBj1mgEcGMQh_Ep.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="readControllerLogs.m" type="File"/>
test/parametricTestSuite.m
+8 -2
View File
@@ -34,8 +34,14 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Define scenario according to CSV specification
tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
objectiveSigma = reshape(params.objectiveVar, [1 2 2]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, params.objectivePos, objectiveSigma);
if length(params.objectiveVar) > 4 && length(params.objectivePos) > 2
objectiveSigma = permute(reshape(params.objectiveVar, [length(params.objectiveVar)/4 2 2]), [3 1 2]);
objectivePos = reshape(params.objectivePos, [length(params.objectivePos)/2, 2])';
else
objectiveSigma = reshape(params.objectiveVar, [1, 2, 2]);
objectivePos = params.objectivePos;
end
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, objectivePos, objectiveSigma);
agents = cell(size(params.initialPositions, 2) / 3, 1);
for ii = 1:size(agents, 1)
util/objectiveFunctionWrapper.m
+5 -1
View File
@@ -4,12 +4,16 @@ function f = objectiveFunctionWrapper(center, sigma)
% composite objectives in particular
arguments (Input)
center (:, 2) double;
sigma (:, 2, 2) double = eye(2);
sigma (:, 2, 2) double = reshape(eye(2), 1, 2, 2);
end
arguments (Output)
f (1, 1) {mustBeA(f, "function_handle")};
end
if size(sigma, 1) == 1 && size(center, 1) > 1
sigma = repmat(sigma, size(center, 1), 1, 1);
end
assert(size(center, 1) == size(sigma, 1));
f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), squeeze(sigma(i, :, :))), 1:size(center,1), "UniformOutput", false)), 2);
end