added cone geometry, implemented fov visualization

.gitignore

@@ -38,3 +38,6 @@ codegen/
 # SimBiology backup files
 *.sbproj.backup
 *.sbproj.bak
+
+# Sandbox contents
+sandbox/*

agent.m

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

firstPlotSetup.m

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

geometries/REGION_TYPE.m

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

geometries/cone.m

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

geometries/rectangularPrism.m

@@ -1,19 +1,25 @@
 classdef rectangularPrism
     % Rectangular prism geometry
     properties (SetAccess = private, GetAccess = public)
+        % Meta
         tag = REGION_TYPE.INVALID;
         label = "";
 
+        % Spatial
         minCorner = NaN(1, 3);
         maxCorner = NaN(1, 3);
-
         dimensions = NaN(1, 3);
-
         center = NaN;
-
-        vertices = NaN(8, 3);
-
         footprint = NaN(4, 2);
+
+        % Graph
+        vertices = NaN(8, 3);
+        edges = [1 2; 2 3; 3 4; 4 1;  % bottom square
+            5 6; 6 8; 8 7; 7 5;  % top square
+            1 5; 2 6; 3 8; 4 7]; % vertical edges
+
+        % Plotting
+        lines;
     end
 
     methods (Access = public)
@@ -74,6 +80,8 @@ classdef rectangularPrism
             arguments (Output)
                 d (:, 1) double
             end
+            assert(~obj.contains(pos), "Cannot determine distance for a point inside of the geometry");
+            
             cPos = NaN(1, 3);
             for ii = 1:3
                 if pos(ii) < obj.minCorner(ii)
@@ -94,6 +102,8 @@ classdef rectangularPrism
             arguments (Output)
                 d (:, 1) double
             end
+            assert(obj.contains(pos), "Cannot determine interior distance for a point outside of the geometry");
+
             % find minimum distance to any face
             d = min([pos(1) - obj.minCorner(1), ...
                      pos(2) - obj.minCorner(2), ...
@@ -112,31 +122,83 @@ classdef rectangularPrism
             end
             c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2);
         end
-        function f = plotWireframe(obj, f)
+        function c = containsLine(obj, pos1, pos2)
             arguments (Input)
                 obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                pos1 (1, 3) double;
+                pos2 (1, 3) double;
+            end
+            arguments (Output)
+                c (1, 1) logical
+            end
+            
+            d = pos2 - pos1;
+
+            % edge case where the line is parallel to the geometry
+            if abs(d) < 1e-12
+                % check if it happens to start or end inside or outside of
+                % the geometry
+                if obj.contains(pos1) || obj.contains(pos2)
+                    c = true;
+                else
+                    c = false;
+                end
+                return;
+            end
+
+            tmin = -inf;        
+            tmax = inf;
+
+            % Standard case
+            for ii = 1:3
+                t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
+                t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii);
+                tmin = max(tmin, min(t1, t2));
+                tmax = min(tmax, max(t1, t2));
+                if tmin > tmax
+                    c = false;
+                    return;
+                end
+            end
+
+            c = (tmax >= 0) && (tmin <= 1);
+        end
+        function [obj, f] = plotWireframe(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+                ind (1, :) double = NaN;
                 f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
             end
             arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
                 f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
             end
 
             % Create axes if they don't already exist
             f = firstPlotSetup(f);
 
-            edges = [1 2; 2 3; 3 4; 4 1;  % bottom square
-                5 6; 6 8; 8 7; 7 5;  % top square
-                1 5; 2 6; 3 8; 4 7]; % vertical edges
-
             % Create plotting inputs from vertices and edges
-            X = [obj.vertices(edges(:,1),1), obj.vertices(edges(:,2),1)]';
-            Y = [obj.vertices(edges(:,1),2), obj.vertices(edges(:,2),2)]';
-            Z = [obj.vertices(edges(:,1),3), obj.vertices(edges(:,2),3)]';
+            X = [obj.vertices(obj.edges(:,1),1), obj.vertices(obj.edges(:,2),1)]';
+            Y = [obj.vertices(obj.edges(:,1),2), obj.vertices(obj.edges(:,2),2)]';
+            Z = [obj.vertices(obj.edges(:,1),3), obj.vertices(obj.edges(:,2),3)]';
 
-            % Plot the boundaries of the geometry
-            hold(f.CurrentAxes, "on");
-            plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
-            hold(f.CurrentAxes, "off");
+            % Plot the boundaries of the geometry into 3D view
+            if isnan(ind)
+                o = plot3(f.CurrentAxes, X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Copy to other requested tiles
+            if numel(ind) > 1
+                for ii = 2:size(ind, 2)
+                    o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+                end
+            end
+
+            obj.lines = o;
         end
     end
 end

guidanceModels/gradientAscent.m

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

miSim.m

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

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

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

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

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4d.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/Zft-eetWhSiBfHeQkgT2iI9nSuId.xml

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

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

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/IkDHDbHimostG0Ka3Qk97pof68k/bkRZvUTstiBe1YFWETJX1U9n5uQd.xml

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

resources/project/IkDHDbHimostG0Ka3Qk97pof68k/bkRZvUTstiBe1YFWETJX1U9n5uQp.xml

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

resources/project/IkDHDbHimostG0Ka3Qk97pof68k/yxu_W2T0waL9FartpZB5JfpFMUUd.xml

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

resources/project/IkDHDbHimostG0Ka3Qk97pof68k/yxu_W2T0waL9FartpZB5JfpFMUUp.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/6yzCMKkTsLiObJh9i87v9JChC2Yd.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/6yzCMKkTsLiObJh9i87v9JChC2Yp.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/G6lGXsTbuwZ-AEQ27UXCqCsFttEd.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/G6lGXsTbuwZ-AEQ27UXCqCsFttEp.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/IkDHDbHimostG0Ka3Qk97pof68kd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/IkDHDbHimostG0Ka3Qk97pof68kp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/gE3UtRAYb2Mvi_5_27MbNbrZKNcd.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/gE3UtRAYb2Mvi_5_27MbNbrZKNcp.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/mjV-hfj-qf8MzZBB6uhFVn0raaUd.xml

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

resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/mjV-hfj-qf8MzZBB6uhFVn0raaUp.xml

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

resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/pWmr-S3Aa4bo9IjolP0M5UKtHGId.xml

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

resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/pWmr-S3Aa4bo9IjolP0M5UKtHGIp.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/ulE9PYd_TlaqYfhxJlcxk9uZKPwd.xml

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

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/ulE9PYd_TlaqYfhxJlcxk9uZKPwp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/G4ZDRUCYKeWyePBmClgd0b2gv90d.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/G4ZDRUCYKeWyePBmClgd0b2gv90p.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/q138eJA8Ym4eSfM3RFMVvg63QtUd.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/q138eJA8Ym4eSfM3RFMVvg63QtUp.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/uhUDZwLuHiPGihzjzILZj0glbh8d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/uhUDZwLuHiPGihzjzILZj0glbh8p.xml

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

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/zfqtoTzQztkirqSAjA2vYKiZn2Md.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/zfqtoTzQztkirqSAjA2vYKiZn2Mp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/H1DNOJ2xfieNyGozuRxm3sAKlR4d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
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resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/H1DNOJ2xfieNyGozuRxm3sAKlR4p.xml

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

resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/gMC6J87GUhmyVw-U2Udmy4HIhA4d.xml

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

resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/gMC6J87GUhmyVw-U2Udmy4HIhA4p.xml

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

resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/oYuyHxrJmpZT32QCx5mVYR2TRLUd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/oYuyHxrJmpZT32QCx5mVYR2TRLUp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/zfqtoTzQztkirqSAjA2vYKiZn2M/H7wWoItGZZXFLdjsjGa3nymk8U8d.xml

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

resources/project/zfqtoTzQztkirqSAjA2vYKiZn2M/H7wWoItGZZXFLdjsjGa3nymk8U8p.xml

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

resources/project/zfqtoTzQztkirqSAjA2vYKiZn2M/dS2dFNGSOpJCcekFKRAWAvowsw8d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/zfqtoTzQztkirqSAjA2vYKiZn2M/dS2dFNGSOpJCcekFKRAWAvowsw8p.xml

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

sensingModels/fixedCardinalSensor.m

@@ -0,0 +1,76 @@
+classdef fixedCardinalSensor
+    % Senses in the +/-x, +/- y directions at some specified fixed length
+    properties
+        r = 0.1; % fixed sensing length
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, r)
+            arguments(Input)
+                obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
+                r (1, 1) double;
+            end
+            arguments(Output)
+                obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
+            end
+            obj.r = r;
+        end
+        function [neighborValues, neighborPos] = sense(obj, agent, sensingObjective, domain, partitioning)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
+                agent (1, 1) {mustBeA(agent, 'agent')};
+                sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
+                domain (1, 1) {mustBeGeometry};
+                partitioning (:, :) double = NaN;
+            end
+            arguments (Output)
+                neighborValues (4, 1) double;
+                neighborPos (4, 3) double;
+            end
+        
+            % Evaluate objective at position offsets +/-[r, 0, 0] and +/-[0, r, 0]
+            currentPos = agent.pos(1:2);
+            neighborPos = [currentPos(1) + obj.r, currentPos(2); ... % (+x)
+                           currentPos(1), currentPos(2) + obj.r; ... % (+y)
+                           currentPos(1) - obj.r, currentPos(2); ... % (-x)
+                           currentPos(1), currentPos(2) - obj.r; ... % (-y)
+                          ];
+        
+            % Check for neighbor positions that fall outside of the domain
+            outOfBounds = false(size(neighborPos, 1), 1);
+            for ii = 1:size(neighborPos, 1)
+                if ~domain.contains([neighborPos(ii, :), 0])
+                    outOfBounds(ii) = true;
+                end
+            end
+        
+            % Replace out of bounds positions with inoffensive in-bounds positions
+            neighborPos(outOfBounds, 1:3) = repmat(agent.pos, sum(outOfBounds), 1);
+        
+            % Sense values at selected positions
+            neighborValues = [sensingObjective.objectiveFunction(neighborPos(1, 1), neighborPos(1, 2)), ... % (+x)
+                              sensingObjective.objectiveFunction(neighborPos(2, 1), neighborPos(2, 2)), ... % (+y)
+                              sensingObjective.objectiveFunction(neighborPos(3, 1), neighborPos(3, 2)), ... % (-x)
+                              sensingObjective.objectiveFunction(neighborPos(4, 1), neighborPos(4, 2)), ... % (-y)
+                             ];
+        
+            % Prevent out of bounds locations from ever possibly being selected
+            neighborValues(outOfBounds) = 0;
+        end
+        function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
+                agentPos (1, 3) double;
+                agentPan (1, 1) double;
+                agentTilt (1, 1) double;
+                targetPos (:, 3) double;
+            end
+            arguments (Output)
+                value (:, 1) double;
+            end
+
+            value = 0.5 * ones(size(targetPos, 1), 1);
+            
+        end
+    end
+end

sensingModels/sigmoidSensor.m

@@ -0,0 +1,83 @@
+classdef sigmoidSensor
+    properties (SetAccess = private, GetAccess = public)
+        % Sensor parameters
+        alphaDist = NaN;
+        betaDist = NaN;
+        alphaPan = NaN;
+        betaPan = NaN;
+        alphaTilt = NaN;
+        betaTilt = NaN;
+
+        r = NaN;
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
+                alphaDist (1, 1) double;
+                betaDist (1, 1) double;
+                alphaPan (1, 1) double;
+                betaPan (1, 1) double;
+                alphaTilt (1, 1) double;
+                betaTilt (1, 1) double;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
+            end
+
+            obj.alphaDist = alphaDist;
+            obj.betaDist = betaDist;
+            obj.alphaPan = alphaPan;
+            obj.betaPan = betaPan;
+            obj.alphaTilt = alphaTilt;
+            obj.betaTilt = betaTilt;
+
+            obj.r = obj.alphaDist;
+        end
+        function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+                agent (1, 1) {mustBeA(agent, 'agent')};
+                sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
+                domain (1, 1) {mustBeGeometry};
+                partitioning (:, :) double;
+            end
+            arguments (Output)
+                values (:, 1) double;
+                positions (:, 3) double;
+            end
+
+            % Find positions for this agent's assigned partition in the domain
+            idx = partitioning == agent.index;
+            positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))];
+
+            % Evaluate objective function at every point in this agent's
+            % assigned partiton
+            values = sensingObjective.values(idx);
+        end
+        function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+                agentPos (1, 3) double;
+                agentPan (1, 1) double;
+                agentTilt (1, 1) double;
+                targetPos (:, 3) double;
+            end
+            arguments (Output)
+                value (:, 1) double;
+            end
+
+            d = vecnorm(agentPos - targetPos, 2, 2);
+            panAngle = atan2(targetPos(:, 2) - agentPos(2), targetPos(:, 1) - agentPos(1)) - agentPan;
+            tiltAngle = atan2(targetPos(:, 3) - agentPos(3), d) - agentTilt;
+
+            % Membership functions
+            mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance
+            mu_p = (1 ./ (1 + exp(-obj.betaPan .* (panAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (panAngle - obj.alphaPan)))); % pan
+            mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt
+
+            value = mu_d .* mu_p .* mu_t;
+        end
+    end
+end

sensingObjective.m

@@ -46,9 +46,10 @@ classdef sensingObjective
             idx = obj.values == max(obj.values, [], "all");
             obj.groundPos = [obj.X(idx), obj.Y(idx)];
         end
-        function f = plot(obj, f)
+        function f = plot(obj, ind, f)
             arguments (Input)
                 obj (1,1) {mustBeA(obj, 'sensingObjective')};
+                ind (1, :) double = NaN;
                 f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
             end
             arguments (Output)
@@ -59,11 +60,27 @@ classdef sensingObjective
             f = firstPlotSetup(f);
 
             % Plot gradient on the "floor" of the domain
+            if isnan(ind)
                 hold(f.CurrentAxes, "on");
-            s = surf(obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
-            s.HitTest = 'off';
-            s.PickableParts = 'none';
+                o = surf(f.CurrentAxes, obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+                o.HitTest = 'off';
+                o.PickableParts = 'none';
                 hold(f.CurrentAxes, "off");
+
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = surf(f.Children(1).Children(ind(1)), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+                o.HitTest = 'off';
+                o.PickableParts = 'none';
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Add to other perspectives
+            if size(ind, 2) > 1
+                for ii = 2:size(ind, 2)
+                    copyobj(o, f.Children(1).Children(ind(ii)));
+                end
+            end
         end
     end
 end

setupVideoWriter.m

@@ -0,0 +1,17 @@
+function v = setupVideoWriter(timestep)
+    arguments (Input)
+        timestep (1, 1) double;
+    end
+    arguments (Output)
+        v (1, 1) {mustBeA(v, 'VideoWriter')};
+    end
+
+    if ispc || ismac
+        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'MPEG-4');
+    elseif isunix
+        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
+    end
+    
+    v.FrameRate = 1/timestep;
+    v.Quality = 90;
+end

test_miSim.m

@@ -1,61 +1,76 @@
 classdef test_miSim < matlab.unittest.TestCase
     properties (Access = private)
         testClass = miSim;
+
         % Domain
-        domain = rectangularPrism;
+        domain = rectangularPrism; % domain geometry
+        maxIter = 250;
+        timestep = 0.05
+        partitoningFreq = 5;
 
         % Obstacles
-        minNumObstacles = 1;
-        maxNumObstacles = 3;
+        minNumObstacles = 1; % Minimum number of obstacles to be randomly generated
+        maxNumObstacles = 3; % Maximum number of obstacles to be randomly generated
+        minObstacleSize = 1; % Minimum size of a randomly generated obstacle
+        maxObstacleSize = 6; % Maximum size of a randomly generated obstacle
         obstacles = cell(1, 0);
-        minObstacleDimension = 1;
         
         % Objective
+        objectiveDiscretizationStep = 0.01; % Step at which the objective function is solved in X and Y space
+        protectedRange = 1; % Minimum distance between the sensing objective and the edge of the domain
         objective = sensingObjective;
-        objectiveFunction = @(x, y) 0;
-        objectiveDiscretizationStep = 0.01;
-        protectedRange = 1;
 
         % Agents
-        minAgents = 3;
-        maxAgents = 9;
-        agents = cell(1, 0);
+        minAgents = 3; % Minimum number of agents to be randomly generated
+        maxAgents = 9; % Maximum number of agents to be randomly generated
+        sensingLength = 0.05; % length parameter used by sensing function
+        agents = cell(0, 1);
         
         % Collision
-        minCollisionRange = 0.1;
-        maxCollisionRange = 0.5;
+        minCollisionRange = 0.1; % Minimum randomly generated collision geometry size
+        maxCollisionRange = 0.5; % Maximum randomly generated collision geometry size
         collisionRanges = NaN;
 
         % Communications
-        comRange = 5;
+        comRange = 5; % Maximum range between agents that forms a communications link
     end
 
     % Setup for each test
     methods (TestMethodSetup)
         % Generate a random domain
         function tc = setDomain(tc)
-            % random integer-sized domain ranging from [0, 5] to [0, 25] in all dimensions
+            % random integer-sized cube domain ranging from [0, 5 -> 25]
+            % in all dimensions
             L = ceil(5 + rand * 10 + rand * 10);
             tc.domain = tc.domain.initialize([zeros(1, 3); L * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
         end
         % Generate a random sensing objective within that domain
         function tc = setSensingObjective(tc)
+            % Using a bivariate normal distribution
+            % Set peak position (mean)
             mu = tc.domain.minCorner;
             while tc.domain.interiorDistance(mu) < tc.protectedRange
                 mu = tc.domain.random();
             end
             mu(3) = 0;
-            assert(tc.domain.contains(mu));
+
+            % Set standard deviations of bivariate distribution
             sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
-            tc.objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu(1:2), sig);
-            tc.objective = tc.objective.initialize(tc.objectiveFunction, tc.domain.footprint, tc.domain.minCorner(3), tc.objectiveDiscretizationStep);
+
+            % Define objective
+            tc.objective = tc.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], mu(1:2), sig), tc.domain.footprint, tc.domain.minCorner(3), tc.objectiveDiscretizationStep);
         end
-        % Instantiate agents, they will be initialized under different
-        % parameters in individual test cases
+        % Instantiate agents
         function tc = setAgents(tc)
+            % Agents will be initialized under different parameters in
+            % individual test cases
+
+            % Instantiate a random number of agents according to parameters
             for ii = 1:randi([tc.minAgents, tc.maxAgents])
                 tc.agents{ii, 1} = agent;
             end
+
+            % Define random collision ranges for each agent
             tc.collisionRanges = tc.minCollisionRange + rand(size(tc.agents, 1), 1) * (tc.maxCollisionRange - tc.minCollisionRange);
         end
     end
@@ -63,169 +78,371 @@ classdef test_miSim < matlab.unittest.TestCase
     methods (Test)
         % Test methods
         function misim_initialization(tc)
-            % randomly create 2-3 obstacles
+            % randomly create obstacles
             nGeom = tc.minNumObstacles + randi(tc.maxNumObstacles - tc.minNumObstacles);
             tc.obstacles = cell(nGeom, 1);
+
+            % Iterate over obstacles to initialize
             for ii = 1:size(tc.obstacles, 1)
+                badCandidate = true;
+                while badCandidate
                     % Instantiate a rectangular prism obstacle
-                tc.obstacles{ii, 1} = rectangularPrism;
+                    tc.obstacles{ii} = rectangularPrism;
     
-                % Randomly come up with dimensions until they
-                % fit within the domain
-                candidateMinCorner = [-Inf(1, 2), 0];
-                candidateMaxCorner = Inf(1, 3);
+                    % Randomly generate min corner for the obstacle
+                    candidateMinCorner = tc.domain.random();
+                    candidateMinCorner = [candidateMinCorner(1:2), 0]; % bind obstacles to floor of domain
     
-                % make sure obstacles are not too small in any dimension
-                tooSmall = true;
-                while tooSmall
-                    % make sure the obstacles don't contain the sensing
-                    % objective or encroach on it too much
-                    obstructs = true;
-                    while obstructs
+                    % Randomly select a corresponding maximum corner that
+                    % satisfies min/max obstacle size specifications
+                    candidateMaxCorner = candidateMinCorner + tc.minObstacleSize + rand(1, 3) * (tc.maxObstacleSize - tc.minObstacleSize);
                 
-                        % Make sure the obstacle is in the domain
-                        while any(candidateMinCorner < tc.domain.minCorner) 
-                            candidateMinCorner = tc.domain.minCorner(1:3) + [(tc.domain.maxCorner(1:2) - tc.domain.minCorner(1:2)) .* rand(1, 2), 0]; % random spots on the ground
-                        end
-                        while any(candidateMaxCorner > tc.domain.maxCorner)
-                            candidateMaxCorner = [candidateMinCorner(1:2), 0] + ((tc.domain.maxCorner(1:3) - tc.domain.minCorner(1:3)) .* rand(1, 3) ./ 2); % halved to keep from being excessively large
-                        end
-    
-                        % once a domain-valid obstacle has been found, make
-                        % sure it doesn't obstruct the sensing target
-                        if all(candidateMinCorner(1:2) <= tc.objective.groundPos) && all(candidateMaxCorner(1:2) >= tc.objective.groundPos)
-                            % reset to try again
-                            candidateMinCorner = [-Inf(1, 2), 0];
-                            candidateMaxCorner = Inf(1, 3);
-                        else
-                            obstructs = false;
-                        end
-                    end
-                    if min(candidateMaxCorner - candidateMinCorner) >= tc.minObstacleDimension
-                        tooSmall = false;
-                    else
-                        candidateMinCorner = [-Inf(1, 2), 0];
-                        candidateMaxCorner = Inf(1, 3);
-                    end
-                end
-
-                % Reduce infinite dimensions to the domain
-                candidateMinCorner(isinf(candidateMinCorner)) = tc.domain.minCorner(isinf(candidateMinCorner));
-                candidateMaxCorner(isinf(candidateMaxCorner)) = tc.domain.maxCorner(isinf(candidateMaxCorner));
-
-                % Initialize obstacle geometry
+                    % Initialize obstacle
                     tc.obstacles{ii} = tc.obstacles{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
+
+                    % Check if the obstacle intersects with any existing
+                    % obstacles
+                    violation = false;
+                    for kk = 1:(ii - 1)
+                        if geometryIntersects(tc.obstacles{kk}, tc.obstacles{ii})
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
                     end
 
-            % Repeat this until a connected set of agent initial conditions
-            % is found by random chance
-            nIter = 0;
-            connected = false;
-            while ~connected
-                % Randomly place agents in the domain
+                    % Make sure that the obstacles are fully contained by 
+                    % the domain
+                    if ~domainContainsObstacle(tc.domain, tc.obstacles{ii})
+                        continue;
+                    end
+
+                    % Make sure that the obstacles don't cover the sensing
+                    % objective
+                    if obstacleCoversObjective(tc.objective, tc.obstacles{ii})
+                        continue;
+                    end
+
+                    % Make sure that the obstacles aren't too close to the
+                    % sensing objective
+                    if obstacleCrowdsObjective(tc.objective, tc.obstacles{ii}, tc.protectedRange)
+                        continue;
+                    end
+                    
+                    badCandidate = false;
+                end
+            end
+
+            % Add agents individually, ensuring that each addition does not
+            % invalidate the initialization setup
             for ii = 1:size(tc.agents, 1)
-                    posInvalid = true;
-                    while posInvalid
-                        % Initialize the agent into a random spot in the
-                        % domain (that is not too close to the sensing
-                        % objective)
-                        boringInit = true;
-                        while boringInit
+                initInvalid = true;
+                while initInvalid
+                    candidatePos = [tc.objective.groundPos, 0];
+                    % Generate a random position for the agent based on
+                    % existing agent positions
+                    if ii == 1
+                        while agentsCrowdObjective(tc.objective, candidatePos, mean(tc.domain.dimensions) / 2)
                             candidatePos = tc.domain.random();
-                            if norm(candidatePos(1:2) - tc.objective.groundPos) >= norm(tc.domain.footprint(4, :) - tc.domain.footprint(1, :))/2
-                                boringInit = false;
-                            end
-                        end
-                        candidateGeometry = rectangularPrism;
-                        tc.agents{ii} = tc.agents{ii}.initialize(candidatePos, zeros(1, 3), eye(3), candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii)), ii, sprintf("Agent %d", ii));
-    
-                        % Check obstacles to confirm that none are violated
-                        for jj = 1:size(tc.obstacles, 1)
-                            inside = false;
-                            if tc.obstacles{jj, 1}.contains(tc.agents{ii, 1}.pos)
-                                % Found a violation, stop checking
-                                inside = true;
-                                break;
                         end
+                    else
+                        candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
                     end
 
-                        % Agent is inside obstacle, try again
-                        if inside
+                    % Make sure that the candidate position is within the
+                    % domain
+                    if ~tc.domain.contains(candidatePos)
                         continue;
                     end
 
-                        % Create a collision geometry for this agent
-                        candidateGeometry = rectangularPrism;
-                        candidateGeometry = candidateGeometry.initialize([tc.agents{ii}.pos - 0.1 * ones(1, 3); tc.agents{ii}.pos + 0.1 * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
+                    % Make sure that the candidate position does not crowd
+                    % the sensing objective and create boring scenarios
+                    if agentsCrowdObjective(tc.objective, candidatePos, mean(tc.domain.dimensions) / 2)
+                        continue;
+                    end
 
-                        % Check previously placed agents for collisions
+                    % Make sure that there exist unobstructed lines of sight at
+                    % appropriate ranges to form a connected communications 
+                    % graph between the agents
+                    connections = false(1, ii - 1);
                     for jj = 1:(ii - 1)
-                            % Check if previously defined agents collide with
-                            % this one
-                            colliding = false;
-                            if candidateGeometry.contains(tc.agents{jj, 1}.pos)
-                                % Found a violation, stop checking
-                                colliding = true;
-                                break;
+                        if norm(tc.agents{jj}.pos - candidatePos) <= tc.comRange
+                            % Check new agent position against all existing
+                            % agent positions for communications range
+                            connections(jj) = true;
+                            for kk = 1:size(tc.obstacles, 1)
+                                if tc.obstacles{kk}.containsLine(tc.agents{jj}.pos, candidatePos)
+                                    connections(jj) = false;
+                                end
+                            end
                         end
                     end
 
-                        % Agent is colliding with another, try again
-                        if ii ~= 1 && colliding
+                    % New agent must be connected to an existing agent to
+                    % be valid
+                    if ii ~= 1 && ~any(connections)
                         continue;
                     end
 
-                        % Allow to proceed since no obstacle/collision
-                        % violations were found
-                        posInvalid = false;
+                    % Initialize candidate agent collision geometry
+                    candidateGeometry = rectangularPrism;
+                    candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
+
+                    % Initialize candidate agent sensor model
+                    sensor = fixedCardinalSensor;
+                    sensor = sensor.initialize(tc.sensingLength);
+
+                    % Initialize candidate agent
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); 
+
+                    % Make sure candidate agent doesn't collide with
+                    % domain
+                    violation = false;
+                    for jj = 1:size(newAgent.collisionGeometry.vertices, 1)
+                        % Check if collision geometry exits domain
+                        if ~tc.domain.contains(newAgent.collisionGeometry.vertices(jj, 1:3))
+                            violation = true;
+                            break;
                         end
                     end
+                    if violation
+                        continue;
+                    end
 
-                % Collect all agent positions
-                posArray = arrayfun(@(x) x{1}.pos, tc.agents, 'UniformOutput', false);
-                posArray = reshape([posArray{:}], size(tc.agents, 1), 3);  
-    
-                % Communications checks
-                adjacency = false(size(tc.agents, 1), size(tc.agents, 1));
-                for ii = 1:size(tc.agents, 1)
-                    % Compute distance from each to all agents
-                    for jj = 1:(size(tc.agents, 1))
-                        if norm(posArray(ii, 1:3) - posArray(jj, 1:3)) <= tc.comRange
-                            adjacency(ii, jj) = true;
+                    % Make sure candidate doesn't collide with obstacles
+                    violation = false;
+                    for kk = 1:size(tc.obstacles, 1)
+                        if geometryIntersects(tc.obstacles{kk}, newAgent.collisionGeometry)
+                            violation = true;
+                            break;
                         end
                     end
+                    if violation
+                        continue;
                     end
 
-                % Check connectivity
-                G = graph(adjacency);
-                connected = all(conncomp(G) == 1);
-                nIter = nIter + 1;
+                    % Make sure candidate doesn't collide with existing
+                    % agents
+                    violation = false;
+                    for kk = 1:(ii - 1)
+                        if geometryIntersects(tc.agents{kk}.collisionGeometry, newAgent.collisionGeometry)
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
+                    end
+
+                    % Candidate agent is valid, store to pass in to sim
+                    initInvalid = false;
+                    tc.agents{ii} = newAgent;
+                end
             end
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.obstacles);
+            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
+        end
+        function misim_run(tc)
+            % randomly create obstacles
+            nGeom = tc.minNumObstacles + randi(tc.maxNumObstacles - tc.minNumObstacles);
+            tc.obstacles = cell(nGeom, 1);
 
-            % Plot domain
-            f = tc.testClass.domain.plotWireframe;
+            % Iterate over obstacles to initialize
+            for ii = 1:size(tc.obstacles, 1)
+                badCandidate = true;
+                while badCandidate
+                    % Instantiate a rectangular prism obstacle
+                    tc.obstacles{ii} = rectangularPrism;
     
-            % Set plotting limits to focus on the domain
-            xlim([tc.testClass.domain.minCorner(1) - 0.5, tc.testClass.domain.maxCorner(1) + 0.5]);
-            ylim([tc.testClass.domain.minCorner(2) - 0.5, tc.testClass.domain.maxCorner(2) + 0.5]);
-            zlim([tc.testClass.domain.minCorner(3) - 0.5, tc.testClass.domain.maxCorner(3) + 0.5]);
+                    % Randomly generate min corner for the obstacle
+                    candidateMinCorner = tc.domain.random();
+                    candidateMinCorner = [candidateMinCorner(1:2), 0]; % bind obstacles to floor of domain
     
-            % Plot obstacles
-            for ii = 1:size(tc.testClass.obstacles, 1)
-                tc.testClass.obstacles{ii, 1}.plotWireframe(f);
+                    % Randomly select a corresponding maximum corner that
+                    % satisfies min/max obstacle size specifications
+                    candidateMaxCorner = candidateMinCorner + tc.minObstacleSize + rand(1, 3) * (tc.maxObstacleSize - tc.minObstacleSize);
+                
+                    % Initialize obstacle
+                    tc.obstacles{ii} = tc.obstacles{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
+
+                    % Check if the obstacle intersects with any existing
+                    % obstacles
+                    violation = false;
+                    for kk = 1:(ii - 1)
+                        if geometryIntersects(tc.obstacles{kk}, tc.obstacles{ii})
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
                     end
 
-            % Plot objective gradient
-            f = tc.testClass.objective.plot(f);
-
-            % Plot agents and their collision geometries
-            for ii = 1:size(tc.testClass.agents, 1)
-                f = tc.testClass.agents{ii, 1}.plot(f);
-                f = tc.testClass.agents{ii, 1}.collisionGeometry.plotWireframe(f);
+                    % Make sure that the obstacles are fully contained by 
+                    % the domain
+                    if ~domainContainsObstacle(tc.domain, tc.obstacles{ii})
+                        continue;
                     end
+
+                    % Make sure that the obstacles don't cover the sensing
+                    % objective
+                    if obstacleCoversObjective(tc.objective, tc.obstacles{ii})
+                        continue;
+                    end
+
+                    % Make sure that the obstacles aren't too close to the
+                    % sensing objective
+                    if obstacleCrowdsObjective(tc.objective, tc.obstacles{ii}, tc.protectedRange)
+                        continue;
+                    end
+                    
+                    badCandidate = false;
+                end
+            end
+
+            % Add agents individually, ensuring that each addition does not
+            % invalidate the initialization setup
+            for ii = 1:size(tc.agents, 1)
+                initInvalid = true;
+                while initInvalid
+                    candidatePos = [tc.objective.groundPos, 0];
+                    % Generate a random position for the agent based on
+                    % existing agent positions
+                    if ii == 1
+                        while agentsCrowdObjective(tc.objective, candidatePos, mean(tc.domain.dimensions) / 2)
+                            candidatePos = tc.domain.random();
+                        end
+                    else
+                        candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
+                    end
+
+                    % Make sure that the candidate position is within the
+                    % domain
+                    if ~tc.domain.contains(candidatePos)
+                        continue;
+                    end
+
+                    % Make sure that the candidate position does not crowd
+                    % the sensing objective and create boring scenarios
+                    if agentsCrowdObjective(tc.objective, candidatePos, mean(tc.domain.dimensions) / 2)
+                        continue;
+                    end
+
+                    % Make sure that there exist unobstructed lines of sight at
+                    % appropriate ranges to form a connected communications 
+                    % graph between the agents
+                    connections = false(1, ii - 1);
+                    for jj = 1:(ii - 1)
+                        if norm(tc.agents{jj}.pos - candidatePos) <= tc.comRange
+                            % Check new agent position against all existing
+                            % agent positions for communications range
+                            connections(jj) = true;
+                            for kk = 1:size(tc.obstacles, 1)
+                                if tc.obstacles{kk}.containsLine(tc.agents{jj}.pos, candidatePos)
+                                    connections(jj) = false;
+                                end
+                            end
+                        end
+                    end
+
+                    % New agent must be connected to an existing agent to
+                    % be valid
+                    if ii ~= 1 && ~any(connections)
+                        continue;
+                    end
+
+                    % Initialize candidate agent collision geometry
+                    candidateGeometry = rectangularPrism;
+                    candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
+                    
+                    % Initialize candidate agent sensor model
+                    sensor = sigmoidSensor;
+                    sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
+
+                    % Initialize candidate agent
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
+                    
+                    % Make sure candidate agent doesn't collide with
+                    % domain
+                    violation = false;
+                    for jj = 1:size(newAgent.collisionGeometry.vertices, 1)
+                        % Check if collision geometry exits domain
+                        if ~tc.domain.contains(newAgent.collisionGeometry.vertices(jj, 1:3))
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
+                    end
+
+                    % Make sure candidate doesn't collide with obstacles
+                    violation = false;
+                    for kk = 1:size(tc.obstacles, 1)
+                        if geometryIntersects(tc.obstacles{kk}, newAgent.collisionGeometry)
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
+                    end
+
+                    % Make sure candidate doesn't collide with existing
+                    % agents
+                    violation = false;
+                    for kk = 1:(ii - 1)
+                        if geometryIntersects(tc.agents{kk}.collisionGeometry, newAgent.collisionGeometry)
+                            violation = true;
+                            break;
+                        end
+                    end
+                    if violation
+                        continue;
+                    end
+
+                    % Candidate agent is valid, store to pass in to sim
+                    initInvalid = false;
+                    tc.agents{ii} = newAgent;
+                end
+            end
+
+            % Initialize the simulation
+            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
+
+            % Run simulation loop
+            [tc.testClass, f] = tc.testClass.run(f);
+        end
+        function test_basic_partitioning(tc)
+            % place agents a fixed distance +/- X from the domain's center
+            d = 1;
+
+            % make basic domain
+            tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
+
+            % make basic sensing objective
+            tc.objective = tc.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2), eye(2)), tc.domain.footprint, tc.domain.minCorner(3), tc.objectiveDiscretizationStep);
+        
+            % Initialize agent collision geometry
+            geometry1 = rectangularPrism;
+            geometry2 = geometry1;
+            geometry1 = geometry1.initialize([tc.domain.center + [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
+            geometry2 = geometry2.initialize([tc.domain.center - [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 2));
+            
+            % Initialize agent sensor model
+            sensor = sigmoidSensor;
+            sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
+    
+            % Initialize agents
+            tc.agents = {agent; agent};
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, 1, sprintf("Agent %d", 1));
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
+
+            % Initialize the simulation
+            [tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
         end
     end
 end

validators/agentsCrowdObjective.m

@@ -0,0 +1,11 @@
+function c = agentsCrowdObjective(objective, positions, protectedRange)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        positions (:, 3) double; % this could be expanded to handle n obstacles in 1 call
+        protectedRange (1, 1) double;
+    end
+    arguments (Output)
+        c (:, 1) logical;
+    end
+    c = vecnorm(positions(:, 1:2) - objective.groundPos, 2, 2) <= protectedRange;
+end

validators/arguments/mustBeGeometry.m

@@ -0,0 +1,10 @@
+function mustBeGeometry(geometry)
+    validGeometries = ["rectangularPrism";];
+    if isa(geometry, 'cell')
+        for ii = 1:size(geometry, 1)
+            assert(any(arrayfun(@(x) isa(geometry{ii}, x), validGeometries)), "Geometry in index %d is not a valid geometry class", ii);
+        end
+    else
+        assert(any(arrayfun(@(x) isa(geometry, x), validGeometries)), "Geometry is not a valid geometry class");
+    end
+end

validators/arguments/mustBeSensor.m

@@ -0,0 +1,10 @@
+function mustBeSensor(sensorModel)
+    validSensorModels = ["fixedCardinalSensor"; "sigmoidSensor";];
+    if isa(sensorModel, 'cell')
+        for ii = 1:size(sensorModel, 1)
+            assert(any(arrayfun(@(x) isa(sensorModel{ii}, x), validSensorModels)), "Sensor in index %d is not a valid sensor class", ii);
+        end
+    else
+        assert(any(arrayfun(@(x) isa(sensorModel, x), validSensorModels)), "Sensor is not a valid sensor class");
+    end
+end

validators/domainContainsObstacle.m

@@ -0,0 +1,21 @@
+function c = domainContainsObstacle(domain, obstacle)
+    arguments (Input)
+        domain (1, 1) {mustBeGeometry};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+
+    switch class(domain)
+        case 'rectangularPrism'
+            switch class(obstacle)
+                case 'rectangularPrism'
+                    c = all(domain.minCorner <= obstacle.minCorner) && all(domain.maxCorner >= obstacle.maxCorner);
+                otherwise
+                    error("%s not implemented for obstacles of class %s", coder.mfunctionname, class(domain));
+            end
+        otherwise
+            error("%s not implemented for domains of class %s", coder.mfunctionname, class(domain));
+    end
+end

validators/geometryIntersects.m

@@ -0,0 +1,17 @@
+function c = geometryIntersects(g1, g2)
+    c = false;
+    % Check if g2 contains g1
+    for jj = 1:size(g1.edges, 1)
+        if g2.containsLine(g1.vertices(g1.edges(jj, 1), 1:3), g1.vertices(g1.edges(jj, 2), 1:3))
+            c = true;
+            return;
+        end
+    end
+    % Check if g1 contains g2
+    for jj = 1:size(g2.edges, 1)
+        if g1.containsLine(g2.vertices(g2.edges(jj, 1), 1:3), g2.vertices(g2.edges(jj, 2), 1:3))
+            c = true;
+            return;
+        end
+    end
+end

validators/mustBeAgents.m

@@ -1,10 +0,0 @@
-function mustBeAgents(agents)
-    validGeometries = ["rectangularPrismConstraint";];
-    if isa(agents, 'cell')
-        for ii = 1:size(agents, 1)
-            assert(isa(agents{ii}, "agent"), "Agent in index %d is not a valid agent class", ii);
-        end
-    else
-        assert(isa(agents, validGeometries), "Agent is not a valid agent class");
-    end
-end

validators/mustBeDcm.m

@@ -1,12 +0,0 @@
-function mustBeDcm(dcm)
-    % Assert 2D
-    assert(numel(size(dcm)) == 2, "DCM is not 2D");
-    % Assert square
-    assert(size(unique(size(dcm)), 1) == 1, "DCM is not a square matrix");
-
-    epsilon = 1e-9;
-    % Assert inverse equivalent to transpose
-    assert(all(abs(inv(dcm) - dcm') < epsilon, "all"), "DCM inverse is not equivalent to transpose");
-    % Assert determinant is 1
-    assert(det(dcm) > 1 - epsilon && det(dcm) < 1 + epsilon, "DCM has determinant not equal to 1");
-end

validators/mustBeGeometry.m

@@ -1,10 +0,0 @@
-function mustBeGeometry(geometry)
-    validGeometries = ["rectangularPrism";];
-    if isa(geometry, 'cell')
-        for ii = 1:size(geometry, 1)
-            assert(isa(geometry{ii}, validGeometries), "Geometry in index %d is not a valid geometry class", ii);
-        end
-    else
-        assert(isa(geometry, validGeometries), "Geometry is not a valid geometry class");
-    end
-end

validators/obstacleCoversObjective.m

@@ -0,0 +1,13 @@
+function c = obstacleCoversObjective(objective, obstacle)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+
+    % Check if the obstacle contains the objective's ground position if the
+    % ground position were raised to the obstacle's center's height
+    c = obstacle.contains([objective.groundPos, obstacle.center(3)]);
+end

validators/obstacleCrowdsObjective.m

@@ -0,0 +1,11 @@
+function c = obstacleCrowdsObjective(objective, obstacle, protectedRange)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+        protectedRange (1, 1) double;
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+    c = norm(obstacle.distance([objective.groundPos, obstacle.center(3)])) <= protectedRange;
+end