included features from SPAWC 2026 branch

.gitignore

@@ -48,6 +48,7 @@ sandbox/*
 
 # Figures
 *.fig
+*.png
 
 # Python Virtual Environment
 aerpaw/venv/

@agent/initialize.m

@@ -15,6 +15,7 @@ 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;
@@ -35,4 +36,4 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
     % Initialize FOV cone
     obj.fovGeometry = cone;
     obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
-end
+end

@agent/run.m

@@ -14,6 +14,13 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents, useD
         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(:))
@@ -79,10 +86,8 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents, useD
     gradNorm = norm(gradC);
 
     % Compute unconstrained next state
-    obj.lastPos = obj.pos;
     if useDoubleIntegrator
         % Double-integrator: gradient produces desired acceleration with damping
-        obj.lastVel = obj.vel;
         if gradNorm < 1e-100
             a_gradient = zeros(1, 3);
         else

@miSim/constrainMotion.m

@@ -39,10 +39,10 @@ function [obj] = constrainMotion(obj)
     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
@@ -69,11 +69,11 @@ function [obj] = constrainMotion(obj)
     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;
@@ -93,37 +93,37 @@ function [obj] = constrainMotion(obj)
     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;
@@ -145,9 +145,9 @@ function [obj] = constrainMotion(obj)
             if obj.constraintAdjacencyMatrix(ii, jj)
                 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}.pos - obj.agents{jj}.pos)^2;
+                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));
 
                 % One-step forward invariance: b = h/dt ensures h cannot

@miSim/initialize.m

@@ -1,4 +1,4 @@
-function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff)
+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};
@@ -13,6 +13,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         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")};
@@ -91,10 +92,15 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
     % Set dynamics model
     obj.useDoubleIntegrator = useDoubleIntegrator;
     obj.dampingCoeff = dampingCoeff;
+    obj.useFixedTopology = useFixedTopology;
 
-    % Compute adjacency matrix and lesser neighbors
+    % Compute adjacency matrix and network topology
     obj = obj.updateAdjacency();
-    obj = obj.lesserNeighbor();
+    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)';
@@ -132,6 +138,12 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         % 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

@@ -90,6 +90,11 @@ if isfield(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;
@@ -137,6 +142,6 @@ end
 % ---- Initialise simulation (plots and video disabled) --------------------
 obj = obj.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
                      MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
-                     USE_DOUBLE_INTEGRATOR, DAMPING_COEFF);
+                     USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
 
 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
@@ -20,6 +19,7 @@ classdef miSim
         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
@@ -27,6 +27,7 @@ classdef miSim
         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)
@@ -66,7 +67,6 @@ classdef miSim
                 obj (1, 1) miSim
             end
             obj.domain = rectangularPrism;
-            obj.objective = sensingObjective;
             obj.obstacles = {rectangularPrism};
             obj.agents = {agent};
         end

@miSim/run.m

@@ -30,7 +30,14 @@ function [obj] = run(obj)
         obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
 
         % Determine desired communications links
-        obj = obj.lesserNeighbor();
+        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

@miSim/teardown.m

@@ -13,12 +13,14 @@ function obj = teardown(obj)
 
     % 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", []);
+    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));
@@ -38,17 +40,18 @@ function obj = teardown(obj)
     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/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
@@ -21,9 +21,8 @@ function validate(obj)
             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
+                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

@@ -14,6 +14,8 @@ function writeInits(obj)
     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, obj.obstacles, 'UniformOutput', false));
+    obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, obj.obstacles, 'UniformOutput', false));
 
     % Combine with simulation parameters
     inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
@@ -24,7 +26,9 @@ function writeInits(obj)
                     "useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, ...
                     "alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
                     ... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
-                    "pos", pos); % still needs obstacle states and objective state
+                    "pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
+                    "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")};
@@ -36,9 +38,14 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
     obj.values = obj.values ./ max(obj.values, [], "all");
 
     % store ground position
-    idx = obj.values == 1;
-    obj.groundPos = [obj.X(idx), obj.Y(idx)];
-    obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow)
+    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

@@ -11,7 +11,7 @@ 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
 

@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/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, useDoubleIntegrator, dampingCoeff
-5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0
+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, 150, 30.0, 0.1, 2.0, 1, 1, 1, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1

test/parametricTestSuite.m

@@ -57,7 +57,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
             end
 
             % Set up simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo, logical(params.useDoubleIntegrator), params.dampingCoeff);
+            tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo, logical(params.useDoubleIntegrator), params.dampingCoeff, logical(params.useFixedTopology));
 
             % Save simulation parameters to output file
             tc.testClass.writeInits();
@@ -150,7 +150,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
                 end
 
                 % randomly shuffle agents to make the network more interesting (probably)
-                agents = agents(randperm(numel(agents))); 
+                agents = agents(randperm(numel(agents)));
 
                 % Set up obstacles
                 obstacles = cell(params.numObstacles(ii), 1);

test/test_miSim.m

@@ -33,6 +33,8 @@ classdef test_miSim < matlab.unittest.TestCase
         initialStepSize = 0.2; % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
         minAgents = 3; % Minimum number of agents to be randomly generated
         maxAgents = 4; % Maximum number of agents to be randomly generated
+        useDoubleIntegrator = false;
+        dampingCoeff = 2;
         agents = cell(0, 1);
         
         % Collision
@@ -52,6 +54,7 @@ classdef test_miSim < matlab.unittest.TestCase
         sensor = sigmoidSensor;
 
         % Communications
+        useFixedTopology = false;
         minCommsRange = 3; % Minimum randomly generated collision geometry size
         maxCommsRange = 5; % Maximum randomly generated collision geometry size
         commsRanges = NaN;
@@ -224,7 +227,7 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
         end
         function miSim_run(tc)
             % randomly create obstacles
@@ -363,7 +366,7 @@ classdef test_miSim < matlab.unittest.TestCase
             end
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
 
             % Write out initialization state
             tc.testClass.writeInits();
@@ -397,7 +400,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.obstacles = cell(0, 1);
             tc.makePlots = false;
             tc.makeVideo = false;
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
         
             centerIdx = floor(size(tc.testClass.partitioning, 1) / 2);
             tc.verifyEqual(tc.testClass.partitioning(centerIdx, centerIdx:(centerIdx + 2)), [2, 3, 1]); % all three near center
@@ -422,7 +425,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.obstacles = cell(0, 1);
             tc.makePlots = false;
             tc.makeVideo = false;
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
             close(tc.testClass.fPerf);
 
             tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
@@ -450,7 +453,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize the simulation
             tc.obstacles = cell(0, 1);
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
             
             % Run the simulation
             tc.testClass = tc.testClass.run();end
@@ -485,7 +488,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize the simulation
             tc.obstacles = cell(0, 1);
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
             
             % Run the simulation
             tc.testClass.run();
@@ -531,7 +534,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, tc.collisionRanges(2)  *1.1 + yOffset, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
             
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
             
             % Run the simulation
             tc.testClass.run();
@@ -571,7 +574,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
             
             % Run the simulation
             tc.testClass = tc.testClass.run();
@@ -614,7 +617,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.minAlt = 0;
             tc.makePlots = false;
             tc.makeVideo = false;
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
 
             % Communications link should be established
             tc.assertEqual(tc.testClass.adjacency, logical(true(2)));
@@ -659,7 +662,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.minAlt = 0;
             tc.makePlots = false;
             tc.makeVideo = false;
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
 
             % Constraint adjacency matrix defined by LNA should be as follows
             tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
@@ -713,7 +716,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.minAlt = 0;
             tc.makePlots = false;
             tc.makeVideo = false;
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
 
             % Constraint adjacency matrix defined by LNA should be as follows
             tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...

util/objectiveFunctionWrapper.m

@@ -4,12 +4,12 @@ function f = objectiveFunctionWrapper(center, sigma)
     % composite objectives in particular
     arguments (Input)
         center (:, 2) double;
-        sigma (2, 2) double = eye(2);
+        sigma (:, 2, 2) double = eye(2);
     end
     arguments (Output)
         f (1, 1) {mustBeA(f, "function_handle")};
     end
     
-    f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), sigma), 1:size(center,1), "UniformOutput", false)), 2);
-
+    assert(size(center, 1) == size(sigma, 1));
+    f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), squeeze(sigma(i, :, :))), 1:size(center,1), "UniformOutput", false)), 2);
 end