Merge branch 'main' into AERPAW-experiments

.gitignore

@@ -4,6 +4,7 @@
 *.autosave
 *.slx.r*
 *.mdl.r*
+*.bak
 
 # Derived content-obscured files
 *.p

@miSim/initialize.m

@@ -72,18 +72,20 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
     obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
 
     % Set labels for agents and collision geometries in cases where they
-    % were not provieded at the time of their initialization
+    % were not provieded at the time of their initialization.
+    % Guarded by coder.target: label is a fixed-size "" in codegen, and
+    % sprintf returns variable-length — incompatible even in a dead branch.
+    % On the compiled path agents always receive explicit labels from the caller.
+    if coder.target('MATLAB')
         for ii = 1:size(obj.agents, 1)
-        % Agent
             if isempty(char(obj.agents{ii}.label))
                 obj.agents{ii}.label = sprintf("Agent %d", int8(ii));
             end
-
-        % Collision geometry
             if isempty(char(obj.agents{ii}.collisionGeometry.label))
                 obj.agents{ii}.collisionGeometry.label = sprintf("Agent %d Collision Geometry", int8(ii));
             end
         end
+    end
 
     % Set CBF parameters
     obj.barrierGain = barrierGain;

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, useFixedTopology
-1, 100, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 80.0", "0.25, 0.25", "8.0, 8.0", "0.1, 0.1", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "66.6, 66.6", "55, 35, 35, 55", 0.15, "15.0, 15.0, 50.0, 40.0, 15.0, 50.0", 1, "0.0, 35.0, 0.0", "50, 40.0, 60", 1, 2.0, 1
+1, 80, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "15.0, 15.0, 50.0, 40.0, 10.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1

aerpaw/config/scenario_columns.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, useFixedTopology
-1, 50, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "10.0, 10.0, 50.0, 40.0, 15.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1
+1, 80, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "60.0, 80.0, 45.0, 70.0", "70, 15, 15, 20, 20, 15, 15, 70", 0.15, "15.0, 15.0, 50.0, 40.0, 10.0, 45.0", 8, "0.0, 30.0, 0.0, 42.0, 30.0, 0.0, 84.0, 30.0, 0.0, 13.0, 60.0, 0.0, 55.0, 60.0, 0.0, 0.0, 90, 0.0, 42.0, 90.0, 0.0, 84.0, 90.0, 0.0", "16.0, 40.0, 100.0, 58.0, 40.0, 100.0, 100.0, 40.0, 100.0, 29.0, 70.0, 100.0, 71.0, 70.0, 100.0, 16.0, 100.0, 100.0, 58.0, 100.0, 100.0, 100.0, 100.0, 100.0", 0, 2.0, 1

aerpaw/config/scenario_lock.csv

@@ -1,2 +1,2 @@
 timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology
-1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "65.0, 15.0, 65.0, 65.0, 15.0, 45.0", 3, "0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0", "100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0", 0, 2.0, 1
+1, 125, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "65.0, 15.0, 65.0, 65.0, 15.0, 45.0", 3, "0.0, 25.0, 55.0, 40.0, 10.0, 0.0, 40.0, 45.0, 60.0", "100.0, 70.0, 60.0, 45.0, 80.0, 55.0, 100.0, 50.0, 100.0", 0, 2.0, 1

aerpaw/config/scenario_walls.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, useFixedTopology
-1, 65, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "90.0, 10.0, 50.0, 65.0, 15.0, 45.0", 4, "0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0", "50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0", 0, 2.0, 1
+1, 125, 35.0, 0.1, 2.0, 6, 1, 1, "8.0, 8.0", "35.0, 35.0", "80.0, 50.0", "0.25, 1.0", "8.0, 25.0", "0.1, 0.02", "0.0, 0.0, 0.0", "100.0, 100.0, 100.0", "30.0, 80.0", "60, 20, 20, 30", 0.15, "90.0, 10.0, 50.0, 65.0, 15.0, 45.0", 4, "0.0, 30.0, 0.0, 70.0, 30.0, 0.0, 0.0, 60.0, 0.0, 55.0, 60.0, 0.0", "50.0, 40.0, 100.0, 100.0, 40.0, 100.0, 35.0, 70.0, 100.0, 100.0, 70.0, 100.0", 0, 2.0, 1

aerpaw/controller.m

@@ -7,54 +7,43 @@ coder.extrinsic('disp', 'readScenarioCsv');
 
 % Maximum clients supported (one initial position per UAV)
 MAX_CLIENTS = 4;
-% Two waypoints per UAV: altitude-staggered transit + final position
-MAX_TARGETS = MAX_CLIENTS * 2;
+% Three waypoints per UAV: one axis-aligned move per dimension (taxicab flyout/flyback)
+MAX_TARGETS = MAX_CLIENTS * 3;
+
+% Taxicab flyout/flyback only supports exactly 2 UAVs
+if numClients ~= int32(2)
+    error('Taxicab flyout/flyback requires exactly 2 UAVs');
+end
 
 % Allocate targets array (MAX_TARGETS x 3)
 targets = zeros(MAX_TARGETS, 3);
 numWaypoints = int32(0);
 totalLoaded  = int32(0);  % pre-declare type for coder.ceval %#ok<NASGU>
 
-% Load initial UAV positions from scenario CSV
+% Experiment start positions from scenario CSV (N x 3)
+scenarioPositions = zeros(MAX_CLIENTS, 3);
+
+% Load experiment start positions from scenario CSV
 if coder.target('MATLAB')
     disp('Loading initial positions from scenario.csv (simulation)...');
     tmpSim = miSim;
     sc = tmpSim.readScenarioCsv('aerpaw/config/scenario.csv');
     flatPos = double(sc.initialPositions);  % 1×(3*N) flat vector
-    posMatrix = reshape(flatPos, 3, [])';   % N×3, same layout as initializeFromCsv
+    posMatrix = reshape(flatPos, 3, [])';   % N×3
     totalLoaded = int32(size(posMatrix, 1));
+    scenarioPositions(1:totalLoaded, :) = posMatrix;
+    % MATLAB path: send directly to scenario positions in one waypoint
     targets(1:totalLoaded, :) = posMatrix;
     numWaypoints = int32(1);
     disp(['Loaded ', num2str(double(totalLoaded)), ' initial positions']);
 else
     coder.cinclude('controller_impl.h');
     filename = ['config/scenario.csv', char(0)];
+    % Load into targets temporarily; copy to scenarioPositions below
     totalLoaded = coder.ceval('loadInitialPositions', coder.ref(filename), ...
                 coder.ref(targets), int32(MAX_TARGETS));
-    numWaypoints = totalLoaded / int32(numClients);
-end
-
-% In the compiled path, inject altitude-staggered transit waypoints so UAVs
-% are vertically separated while flying horizontally to their start positions.
-% ArduPilot reaches target altitude before horizontal movement, so UAV i is at
-% altitude (TRANSIT_ALT_BASE + (i-1)*TRANSIT_ALT_STEP) throughout its transit,
-% preventing collisions regardless of horizontal path geometry.
-% TRANSIT_ALT_STEP must exceed 2 * max(collisionRadius).
-% Waypoint 1: each UAV flies to (finalX, finalY) at its unique transit altitude.
-% Waypoint 2: each UAV adjusts to its actual target altitude.
-% These constants are also used for the altitude-staggered return before RTL.
-TRANSIT_ALT_BASE = 25.0;  % must match drone.takeoff() altitude in uav_runner.py
-TRANSIT_ALT_STEP = 25;    % vertical separation per UAV (m); must exceed 2*collisionRadius
-if ~coder.target('MATLAB')
-    for ii = double(totalLoaded):-1:1
-        transitRow = (ii - 1) * 2 + 1;
-        finalRow   = (ii - 1) * 2 + 2;
-        finalPos   = targets(ii, :);
-        transitAlt = TRANSIT_ALT_BASE + (ii - 1) * TRANSIT_ALT_STEP;
-        targets(finalRow, :)   = finalPos;
-        targets(transitRow, :) = [finalPos(1), finalPos(2), transitAlt];
-    end
-    numWaypoints = int32(2);
+    scenarioPositions(1:totalLoaded, :) = targets(1:totalLoaded, :);
+    numWaypoints = int32(3);
 end
 
 % Load guidance scenario from CSV (parameters for guidance_step)
@@ -92,6 +81,46 @@ for i = 1:numClients
     end
 end
 
+% Query takeoff-pad GPS positions before sending any waypoints.
+% These are also the flyback targets so each UAV lands where it took off.
+initialPositions = zeros(MAX_CLIENTS, 3);
+if ~coder.target('MATLAB')
+    coder.ceval('sendRequestPositions', int32(numClients));
+    coder.ceval('recvPositions', int32(numClients), coder.ref(initialPositions), int32(MAX_CLIENTS));
+else
+    % Simulation: treat scenario positions as the takeoff locations
+    initialPositions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
+end
+
+% ---- Build taxicab flyout waypoints ------------------------------------------
+% Determine which UAV has the higher final altitude; it moves Z first so it
+% clears vertical separation before the lower UAV converges on the same X/Y.
+%   Higher UAV order: Z → Y → X
+%   Lower  UAV order: X → Y → Z
+if ~coder.target('MATLAB')
+    if scenarioPositions(1, 3) >= scenarioPositions(2, 3)
+        higherIdx = int32(1);
+        lowerIdx  = int32(2);
+    else
+        higherIdx = int32(2);
+        lowerIdx  = int32(1);
+    end
+
+    hBase = double(higherIdx - 1) * double(numWaypoints);
+    lBase = double(lowerIdx  - 1) * double(numWaypoints);
+
+    % Higher UAV: Z first
+    targets(hBase + 1, :) = [initialPositions(higherIdx,1), initialPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
+    targets(hBase + 2, :) = [initialPositions(higherIdx,1), scenarioPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
+    targets(hBase + 3, :) =  scenarioPositions(higherIdx, :);
+
+    % Lower UAV: X first
+    targets(lBase + 1, :) = [scenarioPositions(lowerIdx,1), initialPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
+    targets(lBase + 2, :) = [scenarioPositions(lowerIdx,1), scenarioPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
+    targets(lBase + 3, :) =  scenarioPositions(lowerIdx, :);
+end
+% ------------------------------------------------------------------------------
+
 % Waypoint loop: send each waypoint to all clients, wait for all to arrive
 for w = 1:numWaypoints
     % Send TARGET for waypoint w to each client
@@ -127,8 +156,13 @@ for w = 1:numWaypoints
 end
 
 % ---- Phase 2: miSim guidance loop ----------------------------------------
-% Guidance parameters (adjust here and recompile as needed)
-MAX_GUIDANCE_STEPS = int32(100); % number of guidance iterations
+% Number of guidance steps comes from maxIter in scenario.csv (scenarioParams(2))
+% so the controller and the agent step-decay schedule stay in sync.
+if coder.target('MATLAB')
+    MAX_GUIDANCE_STEPS = int32(sc.maxIter);
+else
+    MAX_GUIDANCE_STEPS = int32(scenarioParams(2));
+end
 
 % Enter guidance mode on all clients
 if ~coder.target('MATLAB')
@@ -141,8 +175,8 @@ if ~coder.target('MATLAB')
     coder.ceval('sendRequestPositions', int32(numClients));
     coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
 else
-    % Simulation: seed positions from CSV waypoints so agents don't start at origin
-    positions(1:totalLoaded, :) = targets(1:totalLoaded, :);
+    % Simulation: seed positions from scenario positions so agents don't start at origin
+    positions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
 end
 guidance_step(positions(1:numClients, :), true, ...
               scenarioParams, obstacleMin, obstacleMax, numObstacles);
@@ -197,20 +231,48 @@ if ~coder.target('MATLAB')
 end
 % --------------------------------------------------------------------------
 
-% Altitude-staggered return: separate UAVs vertically before issuing RTL,
-% mirroring the initial positioning stagger so UAVs transit laterally at
-% unique altitudes and cannot collide during the return flight.
+% ---- Taxicab flyback: return each UAV to its takeoff-pad position ---------
+% The UAV that ended guidance at the higher altitude moves Z last (X → Y → Z)
+% so it stays high while the lower UAV descends first, maintaining separation
+% as both converge back on their respective home X/Y positions.
+NUM_RETURN_WP = int32(3);
+returnTargets = zeros(MAX_TARGETS, 3);
+
 if ~coder.target('MATLAB')
+    if positions(1, 3) >= positions(2, 3)
+        higherRetIdx = int32(1);
+        lowerRetIdx  = int32(2);
+    else
+        higherRetIdx = int32(2);
+        lowerRetIdx  = int32(1);
+    end
+
+    hRetBase = double(higherRetIdx - 1) * double(NUM_RETURN_WP);
+    lRetBase = double(lowerRetIdx  - 1) * double(NUM_RETURN_WP);
+
+    % Higher post-guidance UAV: X → Y → Z (descend last)
+    returnTargets(hRetBase + 1, :) = [initialPositions(higherRetIdx,1), positions(higherRetIdx,2),        positions(higherRetIdx,3)];
+    returnTargets(hRetBase + 2, :) = [initialPositions(higherRetIdx,1), initialPositions(higherRetIdx,2), positions(higherRetIdx,3)];
+    returnTargets(hRetBase + 3, :) =  initialPositions(higherRetIdx, :);
+
+    % Lower post-guidance UAV: Z → Y → X (descend first)
+    returnTargets(lRetBase + 1, :) = [positions(lowerRetIdx,1),        positions(lowerRetIdx,2),        initialPositions(lowerRetIdx,3)];
+    returnTargets(lRetBase + 2, :) = [positions(lowerRetIdx,1),        initialPositions(lowerRetIdx,2), initialPositions(lowerRetIdx,3)];
+    returnTargets(lRetBase + 3, :) =  initialPositions(lowerRetIdx, :);
+
+    for w = 1:NUM_RETURN_WP
         for i = 1:numClients
-        transitAlt = TRANSIT_ALT_BASE + (double(i) - 1) * TRANSIT_ALT_STEP;
-        target = [positions(i, 1), positions(i, 2), transitAlt];
-        coder.ceval('sendTarget', int32(i), coder.ref(target));
+            retIdx = double(i - 1) * double(NUM_RETURN_WP) + w;
+            retTarget = returnTargets(retIdx, :);
+            coder.ceval('sendTarget', int32(i), coder.ref(retTarget));
         end
         coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.ACK));
         coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.READY));
-else
-    disp('Altitude-staggered return (simulation): UAVs commanded to transit altitudes.');
     end
+else
+    disp('Taxicab return (simulation): UAVs commanded back to takeoff positions.');
+end
+% --------------------------------------------------------------------------
 
 % Send RTL command to all clients
 for i = 1:numClients

util/objectiveFunctionWrapper.m

@@ -13,6 +13,7 @@ function f = objectiveFunctionWrapper(center, sigma)
     if size(sigma, 1) == 1 && size(center, 1) > 1
         sigma = repmat(sigma, size(center, 1), 1, 1);
     end
+
     assert(size(center, 1) == size(sigma, 1));
     f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), squeeze(sigma(i, :, :))), 1:size(center,1), "UniformOutput", false)), 2);
 end