ran 3 new experiments on AERPAW simulation to test before submitting

.gitignore

@@ -4,6 +4,7 @@
 *.autosave
 *.slx.r*
 *.mdl.r*
+*.bak
 
 # Derived content-obscured files
 *.p
@@ -48,6 +49,7 @@ sandbox/*
 
 # Figures
 *.fig
+*.png
 
 # Python Virtual Environment
 aerpaw/venv/

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "aerpaw/aerpawlib"]
-	path = aerpaw/aerpawlib
-	url = https://github.com/morzack/aerpawlib-vehicle-control.git

@agent/agent.m

@@ -6,6 +6,8 @@ classdef agent
         % State
         lastPos = NaN(1, 3); % position from previous timestep
         pos = NaN(1, 3); % current position
+        vel = zeros(1, 3); % velocity (double-integrator mode)
+        lastVel = zeros(1, 3); % pre-step velocity (double-integrator mode)
 
         % Sensor
         sensorModel;

@agent/initialize.m

@@ -15,6 +15,9 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
     end
 
     obj.pos = pos;
+    obj.lastPos = pos;
+    obj.vel = zeros(1, 3);
+    obj.lastVel = zeros(1, 3);
     obj.collisionGeometry = collisionGeometry;
     obj.sensorModel = sensorModel;
     obj.label = label;

@agent/run.m

@@ -1,4 +1,4 @@
-function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
+function obj = run(obj, domain, partitioning, timestepIndex, index, agents, useDoubleIntegrator, dampingCoeff, dt)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "agent")};
         domain (1, 1) {mustBeGeometry};
@@ -6,11 +6,21 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
         timestepIndex (1, 1) double;
         index (1, 1) double;
         agents (:, 1) {mustBeA(agents, "cell")};
+        useDoubleIntegrator (1, 1) logical = false;
+        dampingCoeff (1, 1) double = 2.0;
+        dt (1, 1) double = 1.0;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, "agent")};
     end
 
+    % Always update lastPos/lastVel so constrainMotion evaluates barriers at
+    % the correct (most recent) position, even when this agent has no partition.
+    obj.lastPos = obj.pos;
+    if useDoubleIntegrator
+        obj.lastVel = obj.vel;
+    end
+
     % Collect objective function values across partition
     partitionMask = partitioning == index;
     if ~any(partitionMask(:))
@@ -75,19 +85,24 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
     targetRate = obj.initialStepSize - obj.stepDecayRate * timestepIndex; % slow down as you get closer
     gradNorm = norm(gradC);
 
-    % Compute unconstrained next position.
-    % Guard against near-zero gradient: when sensor performance is saturated
-    % or near-zero across the whole partition, rateFactor -> Inf and pNext
-    % explodes. Stay put instead.
+    % Compute unconstrained next state
+    if useDoubleIntegrator
+        % Double-integrator: gradient produces desired acceleration with damping
         if gradNorm < 1e-100
-        pNext = obj.pos;
+            a_gradient = zeros(1, 3);
         else
-        pNext = obj.pos + (targetRate / gradNorm) * gradC;
+            % Scale so steady-state step ≈ targetRate (matching SI behavior)
+            a_gradient = (targetRate * dampingCoeff / (gradNorm * dt)) * gradC;
+        end
+        % Semi-implicit Euler: unconditionally stable for any dampingCoeff and dt
+        obj.vel = (obj.vel + a_gradient * dt) / (1 + dampingCoeff * dt);
+        obj.pos = obj.lastPos + obj.vel * dt;
+    else
+        % Single-integrator: gradient directly sets position step
+        if gradNorm >= 1e-100
+            obj.pos = obj.pos + (targetRate / gradNorm) * gradC;
+        end
     end
-
-    % Move to next position
-    obj.lastPos = obj.pos;
-    obj.pos = pNext;
 
     % Reinitialize collision geometry in the new position
     d = obj.pos - obj.collisionGeometry.center;

@miSim/constrainMotion.m

@@ -8,41 +8,41 @@ function [obj] = constrainMotion(obj)
 
     nAgents = size(obj.agents, 1);
 
-    if nAgents < 2
-        nAAPairs = 0;
-    else
-        nAAPairs = nchoosek(nAgents, 2); % unique agent/agent pairs
-    end
-
-    % Compute velocity matrix from unconstrained gradient-ascent step
-    v = zeros(nAgents, 3);
+    % Compute current velocity and desired control input
+    v = zeros(nAgents, 3);        % current velocity (for drift term in DI mode)
+    u_desired = zeros(nAgents, 3); % desired control: velocity (SI) or acceleration (DI)
     for ii = 1:nAgents
+        if obj.useDoubleIntegrator
+            v(ii, :) = obj.agents{ii}.lastVel;
+            u_desired(ii, :) = (obj.agents{ii}.vel - obj.agents{ii}.lastVel) / obj.timestep;
+        else
             v(ii, :) = (obj.agents{ii}.pos - obj.agents{ii}.lastPos) ./ obj.timestep;
+            u_desired(ii, :) = v(ii, :);
         end
-    if all(isnan(v), "all") || all(v == zeros(nAgents, 3), "all")
-        % Agents are not attempting to move, so there is no motion to be
-        % constrained
+    end
+    if ~obj.useDoubleIntegrator && (all(isnan(v), "all") || all(v == zeros(nAgents, 3), "all"))
+        % Single-integrator: agents are not attempting to move
+        return;
+    end
+    if obj.useDoubleIntegrator && all(u_desired == 0, "all") && all(v == 0, "all")
+        % Double-integrator: no desired acceleration and no existing velocity
         return;
     end
 
     % Initialize QP based on number of agents and obstacles
-    nAOPairs = nAgents * size(obj.obstacles, 1); % unique agent/obstacle pairs
-    nADPairs = nAgents * 6; % agents x (4 walls + 1 floor + 1 ceiling)
-    nLNAPairs = sum(obj.constraintAdjacencyMatrix, "all") - nAgents;
-    total = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
     kk = 1;
-    A = zeros(total, 3 * nAgents);
-    b = zeros(total, 1);
+    A = zeros(obj.numBarriers, 3 * nAgents);
+    b = zeros(obj.numBarriers, 1);
 
     % Set up collision avoidance constraints
     h = NaN(nAgents, nAgents);
     h(logical(eye(nAgents))) = 0; % self value is 0
     for ii = 1:(nAgents - 1)
         for jj = (ii + 1):nAgents
-            h(ii, jj) = norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2 - (obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius)^2;
+            h(ii, jj) = norm(obj.agents{ii}.lastPos - obj.agents{jj}.lastPos)^2 - (obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius)^2;
             h(jj, ii) = h(ii, jj);
 
-            A(kk, (3 * ii - 2):(3 * ii)) =  -2 * (obj.agents{ii}.pos - obj.agents{jj}.pos);
+            A(kk, (3 * ii - 2):(3 * ii)) =  -2 * (obj.agents{ii}.lastPos - obj.agents{jj}.lastPos);
             A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
             % Slack derived from existing params: recovery velocity = max gradient approach velocity.
             % Correction splits between 2 agents, so |A| = 2*r_sum
@@ -60,16 +60,22 @@ function [obj] = constrainMotion(obj)
         end
     end
 
+    idx = length(h(triu(true(size(h)), 1)));    
+    if coder.target('MATLAB')
+	obj.barriers(1:idx, obj.timestepIndex) = h(triu(true(size(h)), 1));
+    end
+    idx = idx + 1;
+
     hObs = NaN(nAgents, size(obj.obstacles, 1));
     % Set up obstacle avoidance constraints
     for ii = 1:nAgents
         for jj = 1:size(obj.obstacles, 1)
             % find closest position to agent on/in obstacle
-            cPos = obj.obstacles{jj}.closestToPoint(obj.agents{ii}.pos);
+            cPos = obj.obstacles{jj}.closestToPoint(obj.agents{ii}.lastPos);
 
-            hObs(ii, jj) = dot(obj.agents{ii}.pos - cPos, obj.agents{ii}.pos - cPos) - obj.agents{ii}.collisionGeometry.radius^2;
+            hObs(ii, jj) = dot(obj.agents{ii}.lastPos - cPos, obj.agents{ii}.lastPos - cPos) - obj.agents{ii}.collisionGeometry.radius^2;
 
-            A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.pos - cPos);
+            A(kk, (3 * ii - 2):(3 * ii)) = -2 * (obj.agents{ii}.lastPos - cPos);
             % Floor for single-agent constraint: full correction on one agent, |A| = 2*r_i
             r_i = obj.agents{ii}.collisionGeometry.radius;
             v_max_i = obj.agents{ii}.initialStepSize / obj.timestep;
@@ -80,51 +86,56 @@ function [obj] = constrainMotion(obj)
         end
     end
 
+    if coder.target('MATLAB')
+	obj.barriers(idx:(idx + numel(hObs) - 1), obj.timestepIndex) = reshape(hObs, [], 1);
+    end
+    idx = idx + numel(hObs);
+
     % Set up domain constraints (walls and ceiling only)
     % Floor constraint is implicit with an obstacle corresponding to the
     % minimum allowed altitude, but I included it anyways
     h_xMin = 0.0; h_xMax = 0.0; h_yMin = 0.0; h_yMax = 0.0; h_zMin = 0.0; h_zMax = 0.0;
     for ii = 1:nAgents
         % X minimum
-        h_xMin = (obj.agents{ii}.pos(1) - obj.domain.minCorner(1)) - obj.agents{ii}.collisionGeometry.radius;
+        h_xMin = (obj.agents{ii}.lastPos(1) - obj.domain.minCorner(1)) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [-1, 0, 0];
         b(kk) = obj.barrierGain * max(0, h_xMin)^obj.barrierExponent;
         kk = kk + 1;
 
         % X maximum
-        h_xMax = (obj.domain.maxCorner(1) - obj.agents{ii}.pos(1)) - obj.agents{ii}.collisionGeometry.radius;
+        h_xMax = (obj.domain.maxCorner(1) - obj.agents{ii}.lastPos(1)) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [1, 0, 0];
         b(kk) = obj.barrierGain * max(0, h_xMax)^obj.barrierExponent;
         kk = kk + 1;
 
         % Y minimum
-        h_yMin = (obj.agents{ii}.pos(2) - obj.domain.minCorner(2)) - obj.agents{ii}.collisionGeometry.radius;
+        h_yMin = (obj.agents{ii}.lastPos(2) - obj.domain.minCorner(2)) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, -1, 0];
         b(kk) = obj.barrierGain * max(0, h_yMin)^obj.barrierExponent;
         kk = kk + 1;
 
         % Y maximum
-        h_yMax = (obj.domain.maxCorner(2) - obj.agents{ii}.pos(2)) - obj.agents{ii}.collisionGeometry.radius;
+        h_yMax = (obj.domain.maxCorner(2) - obj.agents{ii}.lastPos(2)) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 1, 0];
         b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent;
         kk = kk + 1;
 
         % Z minimum — enforce z >= minAlt + radius (not just z >= domain floor + radius)
-        h_zMin = (obj.agents{ii}.pos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius;
+        h_zMin = (obj.agents{ii}.lastPos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
         b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent;
         kk = kk + 1;
 
         % Z maximum
-        h_zMax = (obj.domain.maxCorner(3) - obj.agents{ii}.pos(3)) - obj.agents{ii}.collisionGeometry.radius;
+        h_zMax = (obj.domain.maxCorner(3) - obj.agents{ii}.lastPos(3)) - obj.agents{ii}.collisionGeometry.radius;
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, 1];
         b(kk) = obj.barrierGain * max(0, h_zMax)^obj.barrierExponent;
         kk = kk + 1;
-    end
 
         if coder.target('MATLAB')
-        % Save off h function values (logging only — not needed in compiled mode)
-        obj.h(:, obj.timestepIndex) = [h(triu(true(nAgents), 1)); reshape(hObs, [], 1); h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax;];
+	    obj.barriers(idx:(idx + 5), obj.timestepIndex) = [h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax];
+        end
+	idx = idx + 6;
     end
 
     % Add communication network constraints
@@ -133,21 +144,44 @@ function [obj] = constrainMotion(obj)
     for ii = 1:(nAgents - 1)
         for jj = (ii + 1):nAgents
             if obj.constraintAdjacencyMatrix(ii, jj)
-                hComms(ii, jj) = min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])^2 - norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2;
+                paddingFactor = 0.9; % Barrier at 90% of actual range; real comms still work beyond this
+                r_comms = paddingFactor * min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius]);
+                hComms(ii, jj) = r_comms^2 - norm(obj.agents{ii}.lastPos - obj.agents{jj}.lastPos)^2;
 
-                A(kk, (3 * ii - 2):(3 * ii)) =  2 * (obj.agents{ii}.pos - obj.agents{jj}.pos);
+                A(kk, (3 * ii - 2):(3 * ii)) =  2 * (obj.agents{ii}.lastPos - obj.agents{jj}.lastPos);
                 A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
-                b(kk) = obj.barrierGain * max(0, hComms(ii, jj))^obj.barrierExponent;
+
+                % One-step forward invariance: b = h/dt ensures h cannot
+                % go negative in a single timestep (linear approximation)
+                v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep;
+                hMin = -4 * r_comms * v_max_ij * obj.timestep;
+                if norm(A(kk, :)) < 1e-9
+                    b(kk) = 0;
+                else
+                    b(kk) = max(hMin, hComms(ii, jj)) / obj.timestep;
+                end
 
                 kk = kk + 1;
             end
         end
     end
     
-    % Solve QP program generated earlier
-    vhat = reshape(v', 3 * nAgents, 1);
+    if coder.target('MATLAB')
+	obj.barriers(idx:(idx + length(hComms(triu(true(size(hComms)), 1))) - 1), obj.timestepIndex) = hComms(triu(true(size(hComms)), 1));
+    end
+
+    % Double-integrator: transform QP from velocity to acceleration space.
+    % Single-integrator constraint: A * v <= b
+    % Double-integrator: A * a <= (b - A * v_current) / dt
+    if obj.useDoubleIntegrator
+        v_flat = reshape(v', 3 * nAgents, 1);
+        b = (b - A * v_flat) / obj.timestep;
+    end
+
+    % Solve QP: minimize ||u - u_desired||²
+    uhat = reshape(u_desired', 3 * nAgents, 1);
     H = 2 * eye(3 * nAgents);
-    f = -2 * vhat;
+    f = -2 * uhat;
 
     % Update solution based on constraints
     if coder.target('MATLAB')
@@ -157,8 +191,8 @@ function [obj] = constrainMotion(obj)
     end
     opt = optimoptions("quadprog", "Display", "off", "Algorithm", "active-set", "UseCodegenSolver", true);
     x0 = zeros(size(H, 1), 1);
-    [vNew, ~, exitflag] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
-    vNew = reshape(vNew, 3, nAgents)';
+    [uNew, ~, exitflag] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
+    uNew = reshape(uNew, 3, nAgents)';
 
     if exitflag < 0
         % Infeasible or other hard failure: hold all agents at current positions
@@ -167,9 +201,9 @@ function [obj] = constrainMotion(obj)
         else
             fprintf("[constrainMotion] QP infeasible (exitflag=%d), holding positions\n", int16(exitflag));
         end
-        vNew = zeros(nAgents, 3);
+        uNew = zeros(nAgents, 3);
     elseif exitflag == 0
-        % Max iterations exceeded: use suboptimal solution already in vNew
+        % Max iterations exceeded: use suboptimal solution already in uNew
         if coder.target('MATLAB')
             warning("QP max iterations exceeded, using suboptimal solution.");
         else
@@ -177,10 +211,16 @@ function [obj] = constrainMotion(obj)
         end
     end
 
-    % Update the "next position" that was previously set by unconstrained
-    % GA using the constrained solution produced here
-    for ii = 1:size(vNew, 1)
-        obj.agents{ii}.pos = obj.agents{ii}.lastPos + vNew(ii, :) * obj.timestep;
+    % Update agent state using the constrained control input
+    for ii = 1:size(uNew, 1)
+        if obj.useDoubleIntegrator
+            % uNew is constrained acceleration
+            obj.agents{ii}.vel = obj.agents{ii}.lastVel + uNew(ii, :) * obj.timestep;
+            obj.agents{ii}.pos = obj.agents{ii}.lastPos + obj.agents{ii}.vel * obj.timestep;
+        else
+            % uNew is constrained velocity
+            obj.agents{ii}.pos = obj.agents{ii}.lastPos + uNew(ii, :) * obj.timestep;
+        end
     end
 
     % Here we run this at the simulation level, but in reality there is no

@miSim/initialize.m

@@ -1,4 +1,4 @@
-function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
+function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "miSim")};
         domain (1, 1) {mustBeGeometry};
@@ -11,6 +11,9 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
         makePlots(1, 1) logical = true;
         makeVideo (1, 1) logical = true;
+        useDoubleIntegrator (1, 1) logical = false;
+        dampingCoeff (1, 1) double = 2.0;
+        useFixedTopology (1, 1) logical = false;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, "miSim")};
@@ -86,9 +89,18 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
     obj.barrierExponent = barrierExponent;
     obj.minAlt = minAlt;
 
-    % Compute adjacency matrix and lesser neighbors
+    % Set dynamics model
+    obj.useDoubleIntegrator = useDoubleIntegrator;
+    obj.dampingCoeff = dampingCoeff;
+    obj.useFixedTopology = useFixedTopology;
+
+    % Compute adjacency matrix and network topology
     obj = obj.updateAdjacency();
+    if obj.useFixedTopology
+        obj.constraintAdjacencyMatrix = obj.adjacency;
+    else
         obj = obj.lesserNeighbor();
+    end
 
     % Set up times to iterate over
     obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
@@ -97,18 +109,39 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         % Prepare performance data store (at t = 0, all have 0 performance)
         obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
 
-        % Prepare h function data store
-        obj.h = NaN(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2 + size(obj.agents, 1) * size(obj.obstacles, 1) + 6, size(obj.times, 1));
     end
 
     % Create initial partitioning
     obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
 
+    % Determine number of barrier functions that will be necessary
+    if size(obj.agents, 1) < 2
+        nAAPairs = 0;
+    else
+        nAAPairs = nchoosek(size(obj.agents, 1), 2); % unique agent/agent pairs
+    end
+    nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs
+    nADPairs = size(obj.agents, 1) * 6; % agents x (4 walls + 1 floor + 1 ceiling)
+    nLNAPairs = sum(triu(obj.constraintAdjacencyMatrix, 1), "all");
+    obj.numBarriers = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
+
     if coder.target('MATLAB')
         % Initialize variable that will store agent positions for trail plots
         obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);
         obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
 
+        % Initialize velocity history (zeros at t=0, all agents start at rest)
+        obj.velHist = zeros(size(obj.agents, 1), obj.maxIter + 1, 3);
+
+        % Initialize variable that will store barrier function values per timestep for analysis purposes
+        obj.barriers = NaN(obj.numBarriers, size(obj.times, 1));
+
+        % Initialize constraint adjacency history (nAgents x nAgents x nTimesteps)
+        nAgents = size(obj.agents, 1);
+        obj.constraintAdjacencyHist = false(nAgents, nAgents, size(obj.times, 1));
+        obj.constraintAdjacencyHist(:, :, 1) = obj.constraintAdjacencyMatrix;
+
+
         % Set up plots showing initialized state
         obj = obj.plot();
 

@miSim/initializeFromCsv.m

@@ -79,6 +79,23 @@ assert(numel(BETA_TILT_VEC) == numAgents, ...
 
 numObstacles = scenario.numObstacles;
 
+% Dynamics model (optional columns — backward compatible with older CSVs)
+if isfield(scenario, 'useDoubleIntegrator')
+    USE_DOUBLE_INTEGRATOR = logical(scenario.useDoubleIntegrator);
+else
+    USE_DOUBLE_INTEGRATOR = false;
+end
+if isfield(scenario, 'dampingCoeff')
+    DAMPING_COEFF = scenario.dampingCoeff;
+else
+    DAMPING_COEFF = 2.0;
+end
+if isfield(scenario, 'useFixedTopology')
+    USE_FIXED_TOPOLOGY = logical(scenario.useFixedTopology);
+else
+    USE_FIXED_TOPOLOGY = false;
+end
+
 % ---- Build domain --------------------------------------------------------
 dom = rectangularPrism;
 dom = dom.initialize([DOMAIN_MIN; DOMAIN_MAX], REGION_TYPE.DOMAIN, "Guidance Domain");
@@ -124,6 +141,7 @@ end
 
 % ---- Initialise simulation (plots and video disabled) --------------------
 obj = obj.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
-                     MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false);
+                     MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
+                     USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
 
 end

@miSim/initializeFromInits.m

@@ -0,0 +1,87 @@
+function obj = initializeFromInits(obj, initsPath)
+% INITIALIZEFROMINITS  Initialize miSim from a saved simInits matfile.
+%
+% Loads all simulation parameters and initial agent states written by
+% writeInits(), reconstructs domain, objective, agents, and obstacles, then
+% calls the standard obj.initialize() method.  Plots and video are disabled.
+%
+% Usage:
+%   sim = sim.initializeFromInits('sandbox/2025_01_01_12_00_00_miSimInits.mat');
+
+arguments (Input)
+    obj       (1, 1) {mustBeA(obj, 'miSim')};
+    initsPath (1, 1) string;
+end
+arguments (Output)
+    obj (1, 1) {mustBeA(obj, 'miSim')};
+end
+
+inits = load(initsPath);
+
+% ---- Build domain ------------------------------------------------------------
+dom = rectangularPrism;
+dom = dom.initialize([inits.domainMin; inits.domainMax], REGION_TYPE.DOMAIN, "Domain");
+
+% ---- Build sensing objective -------------------------------------------------
+dom.objective = sensingObjective;
+% reshape guards against MATLAB flattening the 1×2×2 singleton dimension on load
+objSigma = reshape(inits.objectiveSigma, [1 2 2]);
+objFcn = objectiveFunctionWrapper(inits.objectivePos, objSigma);
+dom.objective = dom.objective.initialize(objFcn, dom, ...
+    inits.discretizationStep, inits.protectedRange, inits.sensorPerformanceMinimum, ...
+    inits.objectivePos, objSigma);
+
+% ---- Build agents ------------------------------------------------------------
+numAgents = inits.numAgents;
+agentList = cell(numAgents, 1);
+for ii = 1:numAgents
+    pos = inits.pos(ii, :);
+
+    sensor = sigmoidSensor;
+    sensor = sensor.initialize(inits.alphaDist(ii), inits.betaDist(ii), ...
+                               inits.alphaTilt(ii), inits.betaTilt(ii));
+
+    geom = spherical;
+    geom = geom.initialize(pos, inits.collisionRadius(ii), REGION_TYPE.COLLISION, ...
+                           sprintf("UAV %d Collision", ii));
+    ag = agent;
+    ag = ag.initialize(pos, geom, sensor, inits.comRange(ii), inits.maxIter, ...
+                       inits.initialStepSize(ii), sprintf("UAV %d", ii));
+    agentList{ii} = ag;
+end
+
+% ---- Build obstacles ---------------------------------------------------------
+numObstacles = inits.numObstacles;
+obstacleList = cell(numObstacles, 1);
+if numObstacles > 0
+    for ii = 1:numObstacles
+        obs = rectangularPrism;
+        obs = obs.initialize([inits.obsMinCorners(ii, :); inits.obsMaxCorners(ii, :)], ...
+                             REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii));
+        obstacleList{ii} = obs;
+    end
+end
+
+% ---- Optional backward-compat fields -----------------------------------------
+if isfield(inits, 'useDoubleIntegrator')
+    useDoubleIntegrator = logical(inits.useDoubleIntegrator);
+else
+    useDoubleIntegrator = false;
+end
+if isfield(inits, 'dampingCoeff')
+    dampingCoeff = inits.dampingCoeff;
+else
+    dampingCoeff = 2.0;
+end
+if isfield(inits, 'useFixedTopology')
+    useFixedTopology = logical(inits.useFixedTopology);
+else
+    useFixedTopology = false;
+end
+
+% ---- Initialize simulation (plots and video disabled) ------------------------
+obj = obj.initialize(dom, agentList, inits.barrierGain, inits.barrierExponent, ...
+                     inits.minAlt, inits.timestep, inits.maxIter, obstacleList, ...
+                     false, false, useDoubleIntegrator, dampingCoeff, useFixedTopology);
+
+end

@miSim/miSim.m

@@ -7,7 +7,6 @@ classdef miSim
         timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays)
         maxIter = NaN; % maximum number of simulation iterations
         domain;
-        objective;
         obstacles; % geometries that define obstacles within the domain
         agents; % agents that move within the domain
         adjacency = false(0, 0); % Adjacency matrix representing communications network graph
@@ -18,11 +17,17 @@ classdef miSim
         barrierGain = NaN; % CBF gain parameter
         barrierExponent = NaN; % CBF exponent parameter
         minAlt = 0; % minimum allowable altitude (m)
+        useDoubleIntegrator = false; % false = single-integrator, true = double-integrator dynamics
+        dampingCoeff = 2.0; % velocity-proportional damping for double-integrator mode
+        useFixedTopology = false; % false = lesser neighbor (dynamic), true = fixed initial topology
         artifactName = "";
         f; % main plotting tiled layout figure
         fPerf; % performance plot figure
         % Indicies for various plot types in the main tiled layout figure
         spatialPlotIndices = [6, 4, 3, 2];
+        numBarriers = 0; % Number of barrier functions needed
+        barriers = []; % log barrier function values at each timestep for analysis
+        constraintAdjacencyHist = []; % log constraint adjacency matrix at each timestep
     end
 
     properties (Access = private)
@@ -40,6 +45,7 @@ classdef miSim
         performancePlot; % objects for sensor performance plot
 
         posHist; % data for trail plot
+        velHist; % velocity history (double-integrator mode)
         trailPlot; % objects for agent trail plot
 
         % Indicies for various plot types in the main tiled layout figure
@@ -48,7 +54,6 @@ classdef miSim
         partitionGraphIndex = 1;
 
         % CBF plotting
-        h; % h function values
         hf; % h function plotting figure
         caPlot; % objects for collision avoidance h function plot
         obsPlot; % objects for obstacle h function plot
@@ -61,12 +66,13 @@ classdef miSim
                 obj (1, 1) miSim
             end
             obj.domain = rectangularPrism;
-            obj.objective = sensingObjective;
             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);
         [obj] = run(obj);
         [obj] = lesserNeighbor(obj);
         [obj] = constrainMotion(obj);

@miSim/plotFromSimHist.m

@@ -0,0 +1,93 @@
+function obj = plotFromSimHist(obj, initsPath, histPath)
+% PLOTFROMSIMHIST  Reconstruct all three miSim plots from saved matfiles.
+%
+% Loads the simInits matfile to rebuild domain/obstacle/objective/agent
+% geometry, then loads the simHist matfile to restore the full time-history
+% arrays.  Produces the same three figures that a live run would generate:
+%   1. Sensor performance vs. time  (obj.fPerf)
+%   2. Barrier function values vs. time  (obj.hf)
+%   3. 3-D spatial figure with domain, obstacles, objective, agent trails,
+%      and final-timestep communications topology  (obj.f)
+%
+% Usage:
+%   sim = miSim;
+%   sim = sim.plotFromSimHist( ...
+%       'sandbox/2025_01_01_12_00_00_miSimHist.mat', ...
+%       'sandbox/2025_01_01_12_00_00_miSimInits.mat');
+
+arguments (Input)
+    obj       (1, 1) {mustBeA(obj, 'miSim')};
+    initsPath (1, 1) string;
+    histPath  (1, 1) string;
+end
+arguments (Output)
+    obj (1, 1) {mustBeA(obj, 'miSim')};
+end
+
+% ---- Reconstruct geometry from inits (plots disabled) --------------------
+obj = obj.initializeFromInits(initsPath);
+nAgents = size(obj.agents, 1);
+
+% ---- Load history data ---------------------------------------------------
+data = load(histPath);
+out  = data.out;
+
+nHistTimesteps = size(out.barriers, 2);
+nPosTimesteps  = size(out.agent(1).pos, 1);
+
+% ---- Populate barrier history --------------------------------------------
+% out.barriers may be narrower than the pre-allocated obj.barriers if the
+% run was shorter than maxIter; fill what we have and leave the rest NaN.
+obj.barriers(:, 1:nHistTimesteps) = out.barriers;
+
+% ---- Populate position history and advance agents to final positions -----
+for ii = 1:nAgents
+    agentPos = out.agent(ii).pos;           % (nPosTimesteps × 3)
+    nPts = size(agentPos, 1);
+    obj.posHist(ii, 1:nPts, :) = reshape(agentPos, [1, nPts, 3]);
+    obj.agents{ii}.pos = agentPos(end, :);  % show final position in spatial plot
+end
+
+% ---- Set final constraint topology ---------------------------------------
+obj.constraintAdjacencyMatrix = out.constraintAdjacency(:, :, end);
+
+% ---- Recompute partitioning at final agent positions ---------------------
+obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
+
+% ---- Enable plotting and produce spatial + barrier figures ---------------
+obj.makePlots = true;
+obj = obj.plot();
+
+% ---- Performance figure (built directly — live machinery is incremental) -
+nPerfTimesteps = numel(out.perf);
+times = (0:nPerfTimesteps - 1) * obj.timestep;
+normFactor = 1 / max(out.perf);
+
+obj.fPerf = figure;
+ax = axes(obj.fPerf);
+hold(ax, "on");
+title(ax,  "Sensor Performance");
+xlabel(ax, "Time (s)");
+ylabel(ax, "Sensor Performance");
+grid(ax, "on");
+
+legendStrings = strings(nAgents + 1, 1);
+legendStrings(1) = "Total";
+plot(ax, times, out.perf * normFactor, "LineWidth", 1.5);
+for ii = 1:nAgents
+    agentPerf  = out.agent(ii).perf;
+    agentTimes = times(1:numel(agentPerf));
+    plot(ax, agentTimes, agentPerf * normFactor);
+    if isfield(out.agent(ii), 'label')
+        legendStrings(ii + 1) = string(out.agent(ii).label);
+    else
+        legendStrings(ii + 1) = sprintf("Agent %d", ii);
+    end
+end
+legend(ax, legendStrings, "Location", "northwest");
+hold(ax, "off");
+
+% Bring spatial figure to the front
+figure(obj.f);
+
+end

@miSim/plotH.m

@@ -6,6 +6,10 @@ function obj = plotH(obj)
         obj (1, 1) {mustBeA(obj, "miSim")};
     end
 
+    nCA  = size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2;
+    nObs = size(obj.agents, 1) * size(obj.obstacles, 1);
+    nDom = size(obj.agents, 1) * 6;
+
     obj.hf = figure;
     tiledlayout(obj.hf, 4, 1, "TileSpacing", "tight", "Padding", "compact");
 
@@ -15,7 +19,7 @@ function obj = plotH(obj)
     xlabel(obj.hf.Children(1).Children(1), "Time (s)");
     title(obj.hf.Children(1).Children(1), "Collision Avoidance");
     hold(obj.hf.Children(1).Children(1), "on");
-    obj.caPlot = plot(obj.h(1:(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2), :)');
+    obj.caPlot = plot(obj.barriers(1:nCA, :)');
     legendStrings = [];
     for ii = 2:size(obj.agents, 1)
         for jj = 1:(ii - 1)
@@ -31,7 +35,7 @@ function obj = plotH(obj)
     xlabel(obj.hf.Children(1).Children(1), "Time (s)");
     title(obj.hf.Children(1).Children(1), "Obstacles");
     hold(obj.hf.Children(1).Children(1), "on");
-    obj.obsPlot = plot(obj.h((1 + (size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)):(((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1)), :)');
+    obj.obsPlot = plot(obj.barriers((nCA + 1):(nCA + nObs), :)');
     legendStrings = [];
     for ii = 1:size(obj.obstacles, 1)
         for jj = 1:size(obj.agents, 1)
@@ -47,8 +51,13 @@ function obj = plotH(obj)
     xlabel(obj.hf.Children(1).Children(1), "Time (s)");
     title(obj.hf.Children(1).Children(1), "Domain");
     hold(obj.hf.Children(1).Children(1), "on");
-    obj.domPlot = plot(obj.h((1 + (((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1))):size(obj.h, 1), 1:end)');
-    legend(obj.hf.Children(1).Children(1), ["X Min"; "X Max"; "Y Min"; "Y Max"; "Z Min"; "Z Max";], "Location", "bestoutside");
+    obj.domPlot = plot(obj.barriers((nCA + nObs + 1):(nCA + nObs + nDom), :)');
+    domLabels = ["X Min", "X Max", "Y Min", "Y Max", "Z Min", "Z Max"];
+    legendStrings = strings(nDom, 1);
+    for ii = 1:size(obj.agents, 1)
+        legendStrings((ii - 1) * 6 + (1:6)) = sprintf("A%d ", ii) + domLabels;
+    end
+    legend(obj.hf.Children(1).Children(1), legendStrings, "Location", "bestoutside");
     hold(obj.hf.Children(1).Children(2), "off");
 
     nexttile(obj.hf.Children(1));

@miSim/run.m

@@ -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
 
@@ -30,12 +34,19 @@ function [obj] = run(obj)
         obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
 
         % Determine desired communications links
+        if ~obj.useFixedTopology
             obj = obj.lesserNeighbor();
+        end
+
+        % Log constraint adjacency for this timestep
+        if coder.target('MATLAB')
+            obj.constraintAdjacencyHist(:, :, ii) = obj.constraintAdjacencyMatrix;
+        end
 
         % Moving
         % Iterate over agents to simulate their unconstrained motion
         for jj = 1:size(obj.agents, 1)
-            obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.agents);
+            obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.agents, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep);
         end
 
         % Adjust motion determined by unconstrained gradient ascent using
@@ -43,8 +54,9 @@ function [obj] = run(obj)
         obj = constrainMotion(obj);
 
         if coder.target('MATLAB')
-            % Update agent position history array
+            % Update agent position and velocity history arrays
             obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
+            obj.velHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.vel, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
 
             % Update total performance
             obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(obj.timestepIndex+1), obj.agents))];
@@ -63,10 +75,12 @@ function [obj] = run(obj)
         end
     end
 
+    % Close video
     if coder.target('MATLAB')
         if obj.makeVideo
             % Close video file
             v.close();
         end
     end
+    
 end

@miSim/teardown.m

@@ -6,25 +6,52 @@ function obj = teardown(obj)
         obj (1, 1) {mustBeA(obj, "miSim")};
     end
 
-    % Close plots
-    close(obj.hf);
-    close(obj.fPerf);
-    close(obj.f);
+    % % Close plots
+    % close(obj.hf);
+    % close(obj.fPerf);
+    % close(obj.f);
+
+    % Log results into matfile
+    histPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist.mat"));
+    out = struct("agent", repmat(struct("pos", [], "vel", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", [], "useDoubleIntegrator", [], "dampingCoeff", [], "useFixedTopology", []);
+
+    out.perf = obj.performance(1:(end - 1));
+    out.barriers = [zeros(size(obj.barriers(1:end, 1), 1), 1), obj.barriers(1:end, 1:(end - 1))];
+    out.dampingCoeff = obj.dampingCoeff;
+    out.useDoubleIntegrator = obj.useDoubleIntegrator;
+    out.useFixedTopology = obj.useFixedTopology;
+    out.constraintAdjacency = obj.constraintAdjacencyHist(:, :, 1:(end - 1));
+    for ii = 1:size(obj.agents, 1)
+        out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3));
+        out.agent(ii).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3));
+        out.agent(ii).perf = obj.agents{ii}.performance(1:(end - 2));
+        out.agent(ii).sensor.alphaDist = obj.agents{ii}.sensorModel.alphaDist;
+        out.agent(ii).sensor.betaDist = obj.agents{ii}.sensorModel.betaDist;
+        out.agent(ii).sensor.alphaTilt = obj.agents{ii}.sensorModel.alphaTilt;
+        out.agent(ii).sensor.betaTilt = obj.agents{ii}.sensorModel.betaTilt;
+        out.agent(ii).collisionRadius = obj.agents{ii}.collisionGeometry.radius;
+        out.agent(ii).commsRadius = obj.agents{ii}.commsGeometry.radius;
+    end
+
+    save(histPath, "out");
 
     % reset parameters
     obj.timestep = NaN;
     obj.timestepIndex = NaN;
     obj.maxIter = NaN;
     obj.domain = rectangularPrism;
-    obj.objective = sensingObjective;
     obj.obstacles = cell(0, 1);
     obj.agents = cell(0, 1);
     obj.adjacency = NaN;
     obj.constraintAdjacencyMatrix = NaN;
+    obj.constraintAdjacencyHist = [];
     obj.partitioning = NaN;
     obj.performance = 0;
     obj.barrierGain = NaN;
     obj.barrierExponent = NaN;
+    obj.useDoubleIntegrator = false;
+    obj.dampingCoeff = 2.0;
+    obj.useFixedTopology = false;
     obj.artifactName = "";
 
 end

@miSim/updatePlots.m

@@ -61,13 +61,15 @@ function [obj] = updatePlots(obj)
     end
 
     % Update h function plots
-    for ii = 1:size(obj.caPlot, 1)
-        obj.caPlot(ii).YData(obj.timestepIndex) = obj.h(ii, obj.timestepIndex);
+    nCA  = size(obj.caPlot, 1);
+    nObs = size(obj.obsPlot, 1);
+    for ii = 1:nCA
+        obj.caPlot(ii).YData(obj.timestepIndex) = obj.barriers(ii, obj.timestepIndex);
     end
-    for ii = 1:size(obj.obsPlot, 1)
-        obj.obsPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1), obj.timestepIndex);
+    for ii = 1:nObs
+        obj.obsPlot(ii).YData(obj.timestepIndex) = obj.barriers(nCA + ii, obj.timestepIndex);
     end
     for ii = 1:size(obj.domPlot, 1)
-        obj.domPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1) + size(obj.obsPlot, 1), obj.timestepIndex);
+        obj.domPlot(ii).YData(obj.timestepIndex) = obj.barriers(nCA + nObs + ii, obj.timestepIndex);
     end
 end

@miSim/validate.m

@@ -7,11 +7,11 @@ function validate(obj)
 
     %% Communications Network Validators
     if max(conncomp(graph(obj.adjacency))) ~= 1
-        warning("Network is not connected");
+        error("Network is not connected");
     end
 
     if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all")
-        warning("Eliminated network connections that were necessary");
+        error("Eliminated network connections that were necessary");
     end
 
     %% Obstacle Validators
@@ -20,10 +20,9 @@ function validate(obj)
         for kk = 1:size(obj.agents, 1)
             P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
             d = obj.agents{kk}.pos - P;
-            if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
-                warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
+            if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2 - 1e-3
+                error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, - dot(d, d) + obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
             end
         end
     end
-
 end

@miSim/writeInits.m

@@ -5,26 +5,37 @@ function writeInits(obj)
     arguments (Output)
     end
 
+    % User-supplied obstacles only: initialize() appends a floor obstacle at
+    % the end when minAlt > 0, so exclude it here to avoid double-counting on
+    % reconstruction (initializeFromInits re-adds the floor via minAlt).
+    numInputObs = size(obj.obstacles, 1) - (obj.minAlt > 0);
+    userObstacles = obj.obstacles(1:numInputObs);
+
     % Collect agent parameters
     collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
     alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
     betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
     alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
-    betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
+    betaTilt = cellfun(@(x) x.sensorModel.betaTilt, obj.agents);
     comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
     initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
     pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
-
+    obsMinCorners = cell2mat(cellfun(@(x) x.minCorner, userObstacles, 'UniformOutput', false));
+    obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, userObstacles, 'UniformOutput', false));
 
     % Combine with simulation parameters
-    inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
+    inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter + 1, "minAlt", obj.minAlt, ...
                     "discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...
                     "sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "initialStepSize", initialStepSize, ...
-                    "barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", size(obj.obstacles, 1), ...
-                    "numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, "alphaDist", alphaDist, ...
-                    "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
+                    "barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", numInputObs, ...
+                    "numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
+                    "useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, "useFixedTopology", obj.useFixedTopology, ...
+                    "alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
                     ... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
-                    "pos", pos);
+                    "pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
+                    "domainMin", obj.domain.minCorner, "domainMax", obj.domain.maxCorner, ...
+                    "obsMinCorners", obsMinCorners, "obsMaxCorners", obsMaxCorners, ...
+                    "objectiveIntegral", sum(obj.domain.objective.values(:)));
 
     % Save all parameters to output file
     initsFile = strcat(obj.artifactName, "_miSimInits");

@sensingObjective/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum)
+function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum, objectiveMu, objectiveSigma)
     arguments (Input)
         obj (1,1) {mustBeA(obj, "sensingObjective")};
         objectiveFunction (1, 1) {mustBeA(objectiveFunction, "function_handle")};
@@ -6,6 +6,8 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
         discretizationStep (1, 1) double = 1;
         protectedRange (1, 1) double = 1;
         sensorPerformanceMinimum (1, 1) double = 1e-6;
+        objectiveMu (:, 2) double = NaN(1, 2);
+        objectiveSigma (:, 2, 2) double = NaN(1, 2, 2);
     end
     arguments (Output)
         obj (1,1) {mustBeA(obj, "sensingObjective")};
@@ -37,8 +39,13 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
 
     % store ground position
     idx = obj.values == 1;    
+    if any(isnan(objectiveMu))
         obj.groundPos = [obj.X(idx), obj.Y(idx)];
         obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow)
+    else
+        obj.groundPos = objectiveMu;
+    end
+    obj.objectiveSigma = objectiveSigma;
 
-    assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective")
+    assert(domain.distance([obj.groundPos, ones(size(obj.groundPos, 1), 1) .* domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective");
 end

@sensingObjective/initializeRandomMvnpdf.m

@@ -11,16 +11,16 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected
 
     % Set random objective position
     mu = domain.minCorner;
-    while domain.distance(mu) < protectedRange
+    while domain.distance(mu) < protectedRange * 1.01
         mu = domain.random();
     end
 
     % Set random distribution parameters
-    sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
+    sig = reshape([2 + rand * 2, 1; 1, 2 + rand * 2], [1 2 2]);
 
     % Set up random bivariate normal distribution function
     objectiveFunction = objectiveFunctionWrapper(mu(1:2), sig);
 
     % Regular initialization
-    obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange);
+    obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange, 1e-6, mu(1:2), sig);
 end

@sensingObjective/sensingObjective.m

@@ -2,7 +2,8 @@ classdef sensingObjective
     % Sensing objective definition parent class
     properties (SetAccess = private, GetAccess = public)
         label = "";
-        groundPos = [NaN, NaN];
+        groundPos = NaN(1, 2);
+        objectiveSigma = NaN(1, 2, 2);
         discretizationStep = NaN;
         X = [];
         Y = [];

aerpaw/client/uav_runner.py

@@ -164,7 +164,7 @@ class UAVRunner(BasicRunner):
 
         # Retry connection up to 10 times (~30 seconds total)
         reader, writer = None, None
-        for attempt in range(10):
+        for attempt in range(100):
             try:
                 reader, writer = await asyncio.wait_for(
                     asyncio.open_connection(self.server_ip, self.server_port),

aerpaw/config/client1.yaml

@@ -12,8 +12,8 @@ tdm:
 
 # ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
 origin:
-  lat: 35.72550610629396
-  lon: -78.70019657805574
+  lat: 35.72595214250436
+  lon: -78.69917609299937
   alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
 # Environment-specific settings
 environments:
@@ -28,11 +28,11 @@ environments:
       port: 5000
 
   testbed:
-    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
     mavlink:
       ip: "192.168.32.26"
       port: 14550
-    # Controller runs on host machine (192.168.122.1 from E-VM perspective)
+    # Controller runs on host machine (192.168.X.1, generally)
     controller:
-      ip: "192.168.122.1"
+      ip: "192.168.112.1"
       port: 5000

aerpaw/config/client2.yaml

@@ -12,8 +12,8 @@ tdm:
 
 # ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
 origin:
-  lat: 35.72550610629396
-  lon: -78.70019657805574
+  lat: 35.72595214250436
+  lon: -78.69917609299937
   alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
 # Environment-specific settings
 environments:
@@ -28,11 +28,11 @@ environments:
       port: 5000
 
   testbed:
-    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
     mavlink:
       ip: "192.168.32.26"
       port: 14550
-    # Controller runs on host machine (192.168.122.1 from E-VM perspective)
+    # Controller runs on host machine (192.168.X.1, generally)
     controller:
-      ip: "192.168.122.1"
+      ip: "192.168.112.1"
       port: 5000

aerpaw/config/scenario.csv

@@ -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
-5, 120, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0"
+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, 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

aerpaw/config/scenario_columns.csv

@@ -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

aerpaw/config/scenario_lock.csv

@@ -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

aerpaw/config/scenario_two_around_wall.csv

@@ -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

aerpaw/config/scenario_walls.csv

@@ -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

aerpaw/controller.coderprj

@@ -133,6 +133,46 @@
                   <Size type="coderapp.internal.codertype.Dimension"/>
                   <Size type="coderapp.internal.codertype.Dimension"/>
                 </Types>
+                <Types id="27" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
+                <Types id="28" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
+                <Types id="29" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
+                <Types id="30" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
+                <Types id="31" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <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>
+                <Types id="34" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
               </Types>
             </coderapp.internal.interface.project.Interface>
           </MF0>
@@ -374,719 +414,773 @@
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                 </Artifacts>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.cpp</Path>
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/cone.h</Path>
                   </File>
                   <Type>GENERATED_SOURCE</Type>
                 </Artifacts>
                 <Artifacts id="42" type="coderapp.internal.build.mfz.CodegenArtifact">
                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.h</Path>
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/constrainMotion.cpp</Path>
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           </MF0>

aerpaw/controller.m

@@ -7,34 +7,47 @@ coder.extrinsic('disp', 'readScenarioCsv');
 
 % Maximum clients supported (one initial position per UAV)
 MAX_CLIENTS = 4;
-MAX_TARGETS = MAX_CLIENTS;
+% 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);
+    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);
@@ -68,6 +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
@@ -78,7 +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));
@@ -103,8 +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')
@@ -117,14 +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);
@@ -135,7 +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
 
@@ -164,6 +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

@@ -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)
+    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

@@ -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

@@ -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/impl/controller_main.cpp

@@ -3,10 +3,15 @@
 #include "controller_impl.h" // TCP implementation header
 
 int main() {
-    // Number of clients to handle
-    int numClients = 2;  // for now
-
-    std::cout << "Initializing TCP server...\n";
+    // Derive numClients from initialPositions in scenario.csv
+    double targets[MAX_CLIENTS_PER_PARAM * 3];
+    int numClients = loadInitialPositions("config/scenario.csv",
+                                          targets, MAX_CLIENTS_PER_PARAM);
+    if (numClients < 1) {
+        std::cerr << "Failed to parse numClients from scenario.csv\n";
+        return 1;
+    }
+    std::cout << "Parsed " << numClients << " UAV(s) from scenario.csv\n";
 
     // Call MATLAB-generated server function
     controller(numClients);

aerpaw/radio/CSwSNRRX.py

@@ -267,6 +267,10 @@ class CSwSNRRX(gr.top_block):
             '/root/Quality', num_uavs, slot_duration, guard_interval)
         self.blocks_file_sink_0 = TdmTaggedFileSink(
             '/root/Power', num_uavs, slot_duration, guard_interval)
+        self.blocks_file_sink_noisefloor = TdmTaggedFileSink(
+            '/root/NoiseFloor', num_uavs, slot_duration, guard_interval)
+        self._freqoffset_file = open('/root/FreqOffset', 'w')
+        self._freqoffset_file.write('tx_uav_id,value\n')
         self.blocks_divide_xx_0 = blocks.divide_ff(1)
         self.blocks_complex_to_real_0_0 = blocks.complex_to_real(1)
         self.blocks_complex_to_real_0 = blocks.complex_to_real(1)
@@ -310,6 +314,7 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_add_const_vxx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_sub_xx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_sub_xx_0, 1))
+        self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_file_sink_noisefloor, 0))
         self.connect((self.blocks_stream_to_vector_0_0, 0), (self.epy_block_0, 0))
         self.connect((self.blocks_sub_xx_0, 0), (self.blocks_file_sink_0_0_0, 0))
         self.connect((self.blocks_vector_to_stream_0_0, 0), (self.blocks_keep_m_in_n_0, 0))
@@ -321,6 +326,26 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.freq_xlating_fft_filter_ccc_0_0, 0), (self.blocks_stream_to_vector_0_0, 0))
         self.connect((self.uhd_usrp_source_0, 0), (self.blocks_multiply_xx_0, 0))
 
+        ##################################################
+        # Frequency offset polling thread
+        ##################################################
+        def _freq_offset_probe():
+            frame_dur = slot_duration * num_uavs
+            while True:
+                val = self.digital_fll_band_edge_cc_0_0.get_frequency()
+                freq_hz = val * samp_rate / (2 * math.pi)
+                now = time.time()
+                slot_time = now % frame_dur
+                current_slot = int(slot_time / slot_duration)
+                time_into_slot = slot_time - current_slot * slot_duration
+                tx_id = -1 if time_into_slot < guard_interval else current_slot
+                self._freqoffset_file.write(f'{tx_id},{freq_hz}\n')
+                self._freqoffset_file.flush()
+                time.sleep(0.01)
+        _freq_offset_thread = threading.Thread(target=_freq_offset_probe)
+        _freq_offset_thread.daemon = True
+        _freq_offset_thread.start()
+
 
     def get_args(self):
         return self.args

aerpaw/radio/startchannelsounderRXGRC.sh

@@ -20,4 +20,4 @@ else
 fi
 
 cd $PROFILE_DIR"/SDR_control/Channel_Sounderv3"
-python3 CSwSNRRX.py --freq $RX_FREQ --gainrx $GAIN_RX --noise 0 --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS
+python3 CSwSNRRX.py --freq $RX_FREQ --gainrx $GAIN_RX --noise 0 --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS "$@"

aerpaw/radio/startchannelsounderTXGRC.sh

@@ -20,4 +20,4 @@ else
 fi
 
 cd $PROFILE_DIR"/SDR_control/Channel_Sounderv3"
-python3 CSwSNRTX.py --freq $TX_FREQ --gaintx $GAIN_TX --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS
+python3 CSwSNRTX.py --freq $TX_FREQ --gaintx $GAIN_TX --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS "$@"

aerpaw/radio/updateScripts.sh

@@ -1,7 +1,16 @@
 #!/bin/bash
 
+# Drop in replacements for channel sounder scripts
 cp startchannelsounderRXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
 cp startchannelsounderTXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
-
 cp CSwSNRRX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
 cp CSwSNRTX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
+
+# Replace start scripts
+cp ../scripts/startexperiment.sh /root/.
+cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/.
+cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/.
+
+echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml"
+echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node"
+echo "REMEMBER! Manually copy startVehicle_controller.sh to ~/Profiles/ProfileScripts/Vehicle/startVehicle.sh on the fixed node"

aerpaw/results/plotGpsLogs.m

@@ -1,7 +1,8 @@
-function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
+function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel, plotWholeFlight)
     arguments (Input)
         logDirs (1, 1) string;
         seaToGroundLevel (1, 1) double = 110; % measured approximately from USGS national map viewer for the AERPAW test field
+        plotWholeFlight (1, 1) logical = false;
     end
     arguments (Output)
         f (1, 1) matlab.ui.Figure;
@@ -28,6 +29,7 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
     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)
@@ -48,8 +50,10 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
         stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, "last");
     
         % % Plot whole flight, including setup/cleanup
-        % startIdx = 1;
-        % stopIdx = length(verticalSpeed);
+        if plotWholeFlight
+            startIdx = 1;
+            stopIdx = length(verticalSpeed);
+        end
 
         % Convert LLA trajectory data to ENU for external analysis
         % NaN out entries outside the algorithm flight range so they don't plot
@@ -58,6 +62,27 @@ function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
         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/plotRadioLogs.m

@@ -24,16 +24,25 @@ function [f, R] = plotRadioLogs(resultsPath)
         R{ii}(bad, :) = [];
     end
 
+    % Compute path loss from Power (post-processing)
+    % Power = 20*log10(peak_mag) - rxGain; path loss = txGain - rxGain - Power
+    txGain_dB = 76;   % from startchannelsounderTXGRC.sh GAIN_TX
+    rxGain_dB = 30;   % from startchannelsounderRXGRC.sh GAIN_RX
+    for ii = 1:numel(R)
+        R{ii}.PathLoss = txGain_dB - rxGain_dB - R{ii}.Power;
+        R{ii}.FreqOffset = R{ii}.FreqOffset / 1e6; % Hz to MHz
+    end
+
     % Build legend labels and color map for up to 4 UAVs
     nUAV = numel(R);
     colors = lines(nUAV * nUAV);
     styles = ["-o", "-s", "-^", "-d", "-v", "-p", "-h", "-<", "->", "-+", "-x", "-*"];
 
-    metricNames = ["SNR", "Power", "Quality"];
-    yLabels     = ["SNR (dB)", "Power (dB)", "Quality"];
+    metricNames = ["SNR", "Power", "Quality", "PathLoss", "NoiseFloor", "FreqOffset"];
+    yLabels     = ["SNR (dB)", "Power (dB)", "Quality", "Path Loss (dB)", "Noise Floor (dB)", "Freq Offset (MHz)"];
 
     f = figure;
-    tl = tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
+    tl = tiledlayout(numel(metricNames), 1, 'TileSpacing', 'compact', 'Padding', 'compact');
 
     for mi = 1:numel(metricNames)
         ax = nexttile(tl);

aerpaw/results/readControllerLogs.m

@@ -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

@@ -2,21 +2,20 @@ function R = readRadioLogs(logPath)
     arguments (Input)
         logPath (1, 1) string {isfolder(logPath)};
     end
-
     arguments (Output)
-        R (:, 6) table;
+        R (:, 8) table;
     end
 
     % Extract receiving UAV ID from directory name (e.g. "uav0_..." → 0)
     [~, dirName] = fileparts(logPath);
     rxID = int32(sscanf(dirName, 'uav%d'));
 
-    metrics = ["quality", "snr", "power"];
+    metrics = ["quality", "snr", "power", "noisefloor", "freqoffset"];
     logs = dir(logPath);
     logs = logs(endsWith({logs(:).name}, metrics + "_log.txt"));
 
-    R = table(datetime.empty(0,1), zeros(0,1,'int32'), zeros(0,1,'int32'), zeros(0,1), zeros(0,1), zeros(0,1), ...
-        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
+    R = table(datetime.empty(0,1), zeros(0,1,'int32'), zeros(0,1,'int32'), zeros(0,1), zeros(0,1), zeros(0,1), zeros(0,1), zeros(0,1), ...
+        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
 
     for ii = 1:numel(logs)
         filepath = fullfile(logs(ii).folder, logs(ii).name);
@@ -31,25 +30,39 @@ function R = readRadioLogs(logPath)
         end
 
         fid = fopen(filepath, 'r');
-        % Skip 3 lines: 2 junk (tail errors) + 1 header (tx_uav_id,value)
-        for k = 1:3
-            fgetl(fid);
+        % Skip header lines: some files have 2 tail-error lines + 1 column
+        % header ("tx_uav_id,value"), others start with data immediately.
+        % Read until a line that looks like a data record, then rewind to it.
+        dataPattern = '^\[\d{4}-\d{2}-\d{2} \d{2}:\d{2}:\d{2}\.\d+\] [-\d]';
+        linePos = ftell(fid);
+        while true
+            line = fgetl(fid);
+            if ~ischar(line)
+                break;  % EOF
+            end
+            if ~isempty(regexp(line, dataPattern, 'once'))
+                fseek(fid, linePos, 'bof');  % rewind to start of this line
+                break;
+            end
+            linePos = ftell(fid);
         end
         data = textscan(fid, '[%26c] %d,%f');
         fclose(fid);
 
-        ts = datetime(data{1}, 'InputFormat', 'yyyy-MM-dd HH:mm:ss.SSSSSS');
+        ts = datetime(cellstr(data{1}), 'InputFormat', 'yyyy-MM-dd HH:mm:ss.SSSSSS');
         txId = int32(data{2});
         val = data{3};
 
         n = numel(ts);
-        t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), ...
-            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
+        t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), NaN(n,1), NaN(n,1), ...
+            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
 
         switch metric
             case "snr",        t.SNR = val;
             case "power",      t.Power = val;
             case "quality",    t.Quality = val;
+            case "noisefloor", t.NoiseFloor = val;
+            case "freqoffset", t.FreqOffset = val;
         end
 
         R = [R; t]; %#ok<AGROW>

aerpaw/results/resultsAnalysis.m

@@ -1,9 +1,30 @@
 %% Plot AERPAW logs (trajectory, radio)
-resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t1"); % Define path to results copied from AERPAW platform
+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
-[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel);
+plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)
+[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
 
 % Plot radio statistics
 [fRadio, R] = plotRadioLogs(resultsPath);
@@ -21,7 +42,7 @@ makeVideo = true;
 % Define scenario according to CSV specification
 domain = rectangularPrism;
 domain = domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
-domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
+domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [1, 2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
 
 agents = cell(size(params.initialPositions, 2) / 3, 1);
 for ii = 1:size(agents, 1)

aerpaw/run_uav.sh

@@ -32,8 +32,8 @@ else
     exit 1
 fi
 
-# Client config file (optional 2nd argument)
-CONFIG_FILE="${2:-config/client.yaml}"
+# Client config file: 2nd argument > AERPAW_CLIENT_CONFIG env var > default
+CONFIG_FILE="${2:-${AERPAW_CLIENT_CONFIG:-config/client.yaml}}"
 if [ ! -f "$CONFIG_FILE" ]; then
     echo "Error: Config file not found: $CONFIG_FILE"
     exit 1
@@ -59,7 +59,7 @@ echo "[run_uav] MAVLink connection: $CONN"
 
 # Run via aerpawlib
 echo "[run_uav] Starting UAV runner..."
-python3 -m aerpawlib \
+python3 -u -m aerpawlib \
     --script client.uav_runner \
     --conn "$CONN" \
     --vehicle drone

aerpaw/scripts/startRadio.sh

@@ -0,0 +1,100 @@
+#!/bin/bash
+
+# Derive number of UAVs from scenario.csv
+NUM_UAVS=$(python3 -c "
+import csv, os
+csv_path = '/root/miSim/aerpaw/config/scenario.csv'
+with open(csv_path, 'r') as f:
+    reader = csv.reader(f, skipinitialspace=True)
+    header = [h.strip() for h in next(reader)]
+    row = next(reader)
+col = header.index('initialPositions')
+vals = [v.strip() for v in row[col].strip().split(',') if v.strip()]
+print(len(vals) // 3)
+" 2>/dev/null || echo 0)
+
+cd $PROFILE_DIR"/ProfileScripts/Radio/Helpers"
+
+if [ "$NUM_UAVS" -eq 2 ]; then
+    # Direct 1-to-1 mode: UAV 0 = TX only, UAV 1 = RX only
+    echo "[Radio] 2-UAV direct mode: UAV_ID=$UAV_ID"
+
+    if [ "$UAV_ID" -eq 0 ]; then
+        # TX only (--num-uavs 1 disables TDM muting)
+        screen -S txGRC -dm \
+               bash -c "stdbuf -oL -eL ./startchannelsounderTXGRC.sh --num-uavs 1 \
+               2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsoundertxgrc_log.txt"
+    else
+        # RX only (--num-uavs 1 disables TDM tagging)
+        screen -S rxGRC -dm \
+               bash -c "stdbuf -oL -eL ./startchannelsounderRXGRC.sh --num-uavs 1 \
+               2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsounderrxgrc_log.txt"
+
+        screen -S power -dm \
+               bash -c "stdbuf -oL -eL tail -F /root/Power\
+                2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_power_log.txt"
+
+        screen -S quality -dm \
+               bash -c "stdbuf -oL -eL tail -F /root/Quality\
+                2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_quality_log.txt"
+
+        screen -S snr -dm \
+               bash -c "stdbuf -oL -eL tail -F /root/SNR\
+                2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_snr_log.txt"
+
+        screen -S noisefloor -dm \
+              bash -c "stdbuf -oL -eL tail -F /root/NoiseFloor\
+                2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_noisefloor_log.txt"
+
+        screen -S freqoffset -dm \
+               bash -c "stdbuf -oL -eL tail -F /root/FreqOffset\
+                2>&1 | ts $TS_FORMAT \
+               | tee $RESULTS_DIR/$LOG_PREFIX\_freqoffset_log.txt"
+    fi
+else
+    # 3+ UAVs: full TDM mode — every node runs both TX and RX
+    echo "[Radio] TDM mode: $NUM_UAVS UAVs, UAV_ID=$UAV_ID"
+
+    screen -S rxGRC -dm \
+           bash -c "stdbuf -oL -eL ./startchannelsounderRXGRC.sh \
+           2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsounderrxgrc_log.txt"
+
+    screen -S power -dm \
+           bash -c "stdbuf -oL -eL tail -F /root/Power\
+            2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_power_log.txt"
+
+    screen -S quality -dm \
+           bash -c "stdbuf -oL -eL tail -F /root/Quality\
+            2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_quality_log.txt"
+
+    screen -S snr -dm \
+           bash -c "stdbuf -oL -eL tail -F /root/SNR\
+            2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_snr_log.txt"
+
+    screen -S noisefloor -dm \
+          bash -c "stdbuf -oL -eL tail -F /root/NoiseFloor\
+            2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_noisefloor_log.txt"
+
+    screen -S freqoffset -dm \
+           bash -c "stdbuf -oL -eL tail -F /root/FreqOffset\
+            2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_freqoffset_log.txt"
+
+    screen -S txGRC -dm \
+           bash -c "stdbuf -oL -eL ./startchannelsounderTXGRC.sh \
+           2>&1 | ts $TS_FORMAT \
+           | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsoundertxgrc_log.txt"
+fi
+
+cd -

aerpaw/scripts/startVehicle.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+### Sample GPS logger portion
+# use vehicle type generic to skip the arming requirement
+export VEHICLE_TYPE="${VEHICLE_TYPE:-generic}"
+
+# GPS Logger sample application (this does not move the vehicle)
+
+#cd $PROFILE_DIR"/ProfileScripts/Vehicle/Helpers"
+#
+#screen -S vehicle -dm \
+#       bash -c "stdbuf -oL -eL ./gpsLoggerHelper.sh \
+#       2> >(ts $TS_FORMAT >> $RESULTS_DIR/${LOG_PREFIX}_vehicle_log_err.txt) \
+#       | ts $TS_FORMAT \
+#       | tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt"
+#
+#cd -
+
+### Actual control portion (custom)
+export VEHICLE_TYPE="${VEHICLE_TYPE:-drone}" # out of rover, drone, generic
+
+cd /root/miSim/aerpaw
+
+# Use screen/ts/tee aerpawism from sample script
+screen -S vehicle -dm \
+       bash -c "stdbuf -oL -eL ./run_uav.sh testbed \
+       | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt"     
+
+cd -

aerpaw/scripts/startVehicle_controller.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+cd /root/miSim/aerpaw
+
+# Compile controller
+/bin/bash compile.sh
+
+# Run controller
+./build/controller_app
+
+cd -

aerpaw/scripts/startexperiment.sh

@@ -0,0 +1,50 @@
+#!/bin/bash
+/root/stopexperiment.sh
+
+source /root/.ap-set-experiment-env.sh
+source /root/.bashrc
+
+# set path to client config YAML
+export AERPAW_CLIENT_CONFIG=/root/miSim/aerpaw/config/client1.yaml
+
+export AERPAW_REPO=${AERPAW_REPO:-/root/AERPAW-Dev}
+export AERPAW_PYTHON=${AERPAW_PYTHON:-python3}
+export PYTHONPATH=/usr/local/lib/python3/dist-packages/
+export EXP_NUMBER=${EXP_NUMBER:-1}
+
+if [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_uav" ]; then
+    export VEHICLE_TYPE=drone
+elif [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_ugv" ]; then
+    export VEHICLE_TYPE=rover
+else
+    export VEHICLE_TYPE=none
+fi
+
+if [ "$AP_EXPENV_SESSION_ENV" == "Virtual" ]; then
+    export LAUNCH_MODE=EMULATION
+elif [ "$AP_EXPENV_SESSION_ENV" == "Testbed" ]; then
+    export LAUNCH_MODE=TESTBED
+else
+    export LAUNCH_MODE=none
+fi
+
+# prepare results directory
+export UAV_ID=$(python3 -c "import yaml; print(yaml.safe_load(open('$AERPAW_CLIENT_CONFIG'))['uav_id'])")
+export RESULTS_DIR_TIMESTAMP=$(date +%Y-%m-%d_%H_%M_%S)
+export RESULTS_DIR="/root/Results/uav${UAV_ID}_${RESULTS_DIR_TIMESTAMP}"
+mkdir -p "$RESULTS_DIR"
+
+export TS_FORMAT="${TS_FORMAT:-'[%Y-%m-%d %H:%M:%.S]'}"
+export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)"
+
+export TX_FREQ=3.32e9
+export RX_FREQ=3.32e9
+
+export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software"
+cd $PROFILE_DIR"/ProfileScripts"
+
+./Radio/startRadio.sh
+#./Traffic/startTraffic.sh
+./Vehicle/startVehicle.sh
+
+schedule_stop.sh 30

aerpaw/scripts/startexperiment_controller.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+/root/stopexperiment.sh
+
+source /root/.ap-set-experiment-env.sh
+source /root/.bashrc
+
+export AERPAW_REPO=${AERPAW_REPO:-/root/AERPAW-Dev}
+export AERPAW_PYTHON=${AERPAW_PYTHON:-python3}
+export PYTHONPATH=/usr/local/lib/python3/dist-packages/
+export EXP_NUMBER=${EXP_NUMBER:-1}
+
+if [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_uav" ]; then
+    export VEHICLE_TYPE=drone
+elif [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_ugv" ]; then
+    export VEHICLE_TYPE=rover
+else
+    export VEHICLE_TYPE=none
+fi
+
+if [ "$AP_EXPENV_SESSION_ENV" == "Virtual" ]; then
+    export LAUNCH_MODE=EMULATION
+elif [ "$AP_EXPENV_SESSION_ENV" == "Testbed" ]; then
+    export LAUNCH_MODE=TESTBED
+else
+    export LAUNCH_MODE=none
+fi
+
+# prepare results directory
+export RESULTS_DIR_TIMESTAMP=$(date +%Y-%m-%d_%H_%M_%S)
+export RESULTS_DIR="/root/Results/controller_${RESULTS_DIR_TIMESTAMP}"
+mkdir -p "$RESULTS_DIR"
+
+export TS_FORMAT="${TS_FORMAT:-'[%Y-%m-%d %H:%M:%.S]'}"
+export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)"
+
+export TX_FREQ=3.32e9
+export RX_FREQ=3.32e9
+
+export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software"
+cd $PROFILE_DIR"/ProfileScripts"
+
+screen -S controller -dm \
+	bash -c "stdbuf -oL -eL ./Vehicle/startVehicle.sh \
+	| ts $TS_FORMAT \
+	| tee $RESULTS_DIR/$LOG_PREFIX\_controller_log.txt"
+
+schedule_stop.sh 30

resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8d.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/YoWkWDdbwwiRDjC6Inll7Thh1K8p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="6402cbb5-c767-4c8b-bd7c-b2d7cf1055fc" type="Reference"/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/p7b0T5lVDU-D8JiROZNSX56qOhcp.xml

@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Info/>
+<Info location="scripts" type="File"/>

resources/project/Hp7WImb16Wc_c7gK28oUydAFVts/EhSD3dO3mU2KP9IqbTVz7g60j5Ap.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/_1CKOWXf9sLpzeC642i06VHUH0Qd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/_1CKOWXf9sLpzeC642i06VHUH0Qp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="initializeFromInits.m" type="File"/>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/abbdKJ8UvIXKWL0sR9NW0pEJSNId.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/abbdKJ8UvIXKWL0sR9NW0pEJSNIp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plotFromSimHist.m" type="File"/>

resources/project/Vq0hyJJCG53DJ8wxA_8WUihyBpg/H9TIrKqi-fFOWfgKFbIj3tQLZ3Yp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/boyWn-mt0RFdVNBj1mgEcGMQh_Ed.xml

@@ -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

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="readControllerLogs.m" type="File"/>

resources/project/ls4G1ReemmlA4lw5Sxijq_iTPE0/YTBPi7yO4zYK5U1mxnqJDcdXNYkp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/7zvVfoOGOecwrnesPxOvEZRcJNYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startexperiment_controller.sh" type="File"/>

resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/LU7BdyAbq1VWsP1tcW099qs0_cYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startRadio.sh" type="File"/>

resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/Wf9PEeTALvEX83cew4fZfavy2ewp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startexperiment.sh" type="File"/>

resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/bRP3MIwZ4PcWx9PloJbVyWC00JAp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startVehicle.sh" type="File"/>

resources/project/p7b0T5lVDU-D8JiROZNSX56qOhc/oczvKa9PTzIQRYD1e6ccXbiMz_wp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startVehicle_controller.sh" type="File"/>

resources/project/pjpApCZ_IyThRbNNVtyf0HS9lGA/OvzpqD8IaJL2rl4SaQSOPQ-QRMkp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/6V6Vr7QAsqxEmRj-ezOm1ygcTakp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test4" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test13" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Hp7WImb16Wc_c7gK28oUydAFVtsd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Hp7WImb16Wc_c7gK28oUydAFVtsp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="t1" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test14" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Vq0hyJJCG53DJ8wxA_8WUihyBpgd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Vq0hyJJCG53DJ8wxA_8WUihyBpgp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test11" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/ls4G1ReemmlA4lw5Sxijq_iTPE0d.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/ls4G1ReemmlA4lw5Sxijq_iTPE0p.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test6" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/pjpApCZ_IyThRbNNVtyf0HS9lGAd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/pjpApCZ_IyThRbNNVtyf0HS9lGAp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test3" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/soCFsvL91lhqvUw-h8HkHCtfsiwd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/soCFsvL91lhqvUw-h8HkHCtfsiwp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test10" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ed.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ep.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="test12" type="File"/>

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQod.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="t1.zip" type="File"/>

resources/project/soCFsvL91lhqvUw-h8HkHCtfsiw/1fQ44ZBWSpGWUWzrR6iBNoEkvh4d.xml

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

resources/project/soCFsvL91lhqvUw-h8HkHCtfsiw/1fQ44ZBWSpGWUWzrR6iBNoEkvh4p.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4d.xml

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