ran 3 new experiments on AERPAW simulation to test before submitting

fixed multi-objective support, collected sim data on 3 new experiments
first experiment tweaks
2026-05-25 14:07:49 -07:00 · 2026-05-24 20:28:12 -07:00 · 2026-04-08 09:41:30 -07:00 · 2026-04-08 00:02:54 -07:00 · 2026-04-06 21:34:48 -07:00 · 2026-04-06 20:30:55 -07:00
21 changed files with 481 additions and 190 deletions
@@ -4,6 +4,7 @@
 *.autosave
 *.slx.r*
 *.mdl.r*
 *.bak
 # Derived content-obscured files
 *.p
@@ -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);
@@ -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
@@ -1,2 +1,2 @@
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+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
@@ -0,0 +1,2 @@
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@@ -0,0 +1,2 @@
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@@ -0,0 +1,2 @@
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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
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@@ -158,6 +158,21 @@
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@@ -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
+% Three waypoints per UAV: one axis-aligned move per dimension (taxicab flyout/flyback)
-MAX_TARGETS = MAX_CLIENTS * 2;
+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);
+    scenarioPositions(1:totalLoaded, :) = targets(1:totalLoaded, :);
-end
+    numWaypoints = int32(3);
 % 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);
 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)
+% Number of guidance steps comes from maxIter in scenario.csv (scenarioParams(2))
-MAX_GUIDANCE_STEPS = int32(100); % number of guidance iterations
+% 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
+    % Simulation: seed positions from scenario positions so agents don't start at origin
-    positions(1:totalLoaded, :) = targets(1:totalLoaded, :);
+    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
 % --------------------------------------------------------------------------
@@ -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)
@@ -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) {
+    if (nf < 26) {
-        fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
+        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
+// Send a single-byte message type to a client (no logging)
-int sendMessageType(int clientId, int msgType) {
+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
+    std::cout << logPrefix() << "Sent TARGET to client " << clientId << ": "
    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 << ": "
              << 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;
@@ -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
@@ -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)
@@ -60,6 +61,27 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel, plotWholeFlight)
        enu(startIdx:stopIdx, :) = lla2enu([G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx)], lla0, "flat");
        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);
@@ -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
@@ -2,7 +2,6 @@ function R = readRadioLogs(logPath)
    arguments (Input)
        logPath (1, 1) string {isfolder(logPath)};
    end
    arguments (Output)
        R (:, 8) table;
    end
@@ -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);
@@ -0,0 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Info>
    <Category UUID="FileClassCategory">
        <Label UUID="design"/>
    </Category>
 </Info>
@@ -0,0 +1,2 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Info location="readControllerLogs.m" type="File"/>
@@ -34,9 +34,15 @@ 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]);
+            if length(params.objectiveVar) > 4 && length(params.objectivePos) > 2
-            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, params.objectivePos, objectiveSigma);
+                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)
                agents{ii} = agent;
@@ -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
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
`@@ -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`	`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
		`@@ -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
		`@@ -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`
		`@@ -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`
		`@@ -0,0 +1,2 @@`
							`<?xml version="1.0" encoding="UTF-8"?>`
							`<Info location="readControllerLogs.m" type="File"/>`