results

@agent/initialize.m

@@ -36,4 +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

@miSim/initialize.m

@@ -138,12 +138,6 @@ 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/miSim.m

@@ -27,7 +27,6 @@ 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)

@miSim/run.m

@@ -34,11 +34,6 @@ function [obj] = run(obj)
             obj = obj.lesserNeighbor();
         end
 
-        % Log constraint adjacency for this timestep
-        if coder.target('MATLAB')
-            obj.constraintAdjacencyHist(:, :, ii) = obj.constraintAdjacencyMatrix;
-        end
-
         % Moving
         % Iterate over agents to simulate their unconstrained motion
         for jj = 1:size(obj.agents, 1)

@miSim/teardown.m

@@ -20,7 +20,6 @@ function obj = teardown(obj)
     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));
@@ -44,7 +43,6 @@ function obj = teardown(obj)
     obj.agents = cell(0, 1);
     obj.adjacency = NaN;
     obj.constraintAdjacencyMatrix = NaN;
-    obj.constraintAdjacencyHist = [];
     obj.partitioning = NaN;
     obj.performance = 0;
     obj.barrierGain = NaN;

@miSim/validate.m

@@ -20,8 +20,8 @@ function validate(obj)
         for kk = 1:size(obj.agents, 1)
             P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
             d = obj.agents{kk}.pos - P;
-            if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
+            if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2 - 1e-3
-                error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
+                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

@miSim/writeInits.m

@@ -17,6 +17,7 @@ function writeInits(obj)
     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), ...
                     "discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...

@sensingObjective/initialize.m

@@ -38,7 +38,7 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
     obj.values = obj.values ./ max(obj.values, [], "all");
 
     % store ground position
-    idx = obj.values == 1;    
+    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)
@@ -47,5 +47,5 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
     end
     obj.objectiveSigma = objectiveSigma;
 
-    assert(domain.distance([obj.groundPos, ones(size(obj.groundPos, 1), 1) .* 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

plot_1.m

@@ -0,0 +1,189 @@
+clear;
+% Load data
+dataPath = fullfile('.', 'sandbox', 'plot1');
+simHists = dir(dataPath); simHists = simHists(3:end);
+simInits = simHists(endsWith({simHists.name}, 'miSimInits.mat'));
+simHists = simHists(endsWith({simHists.name}, 'miSimHist.mat'));
+assert(length(simHists) == length(simInits), "input data availability mismatch");
+
+% Initialize plotting data
+nRuns = length(simHists);
+Cfinal = NaN(nRuns, 1);
+n = NaN(nRuns, 1);
+doubleIntegrator = NaN(nRuns, 1);
+numObjective = NaN(nRuns, 1);
+positions = cell(6, nRuns);
+commsRadius = NaN(nRuns, 1);
+collisionRadius = NaN(nRuns, 1);
+
+% Aggregate relevant data
+for ii = 1:length(simHists)
+    initName = strrep(simInits(ii).name, "_miSimInits.mat", "");
+    histName = strrep(simHists(ii).name, "_miSimHist.mat", "");
+    assert(initName == histName);
+
+    init = load(fullfile(simInits(ii).folder, simInits(ii).name));
+    hist = load(fullfile(simHists(ii).folder, simHists(ii).name));
+
+    % Stash relevant data
+    Cfinal(ii) = hist.out.perf(end) / init.objectiveIntegral;
+    n(ii) = init.numAgents;
+    doubleIntegrator(ii) = init.useDoubleIntegrator;
+    numObjective(ii) = size(init.objectivePos, 1);
+    commsRadius(ii) = unique(init.comRange);
+    collisionRadius(ii) = unique(init.collisionRadius);
+    for jj = 1:length(hist.out.agent)
+        alphaDist(jj, ii) = hist.out.agent(jj).sensor.alphaDist;
+        positions{jj, ii} = hist.out.agent(jj).pos;
+        assert(hist.out.agent(jj).commsRadius == commsRadius(ii));
+        assert(hist.out.agent(jj).collisionRadius == collisionRadius(ii));
+    end
+
+    alphaDist2 = unique(alphaDist);
+    if length(alphaDist2) > 1
+        alphaDist2 = alphaDist2(1);
+    end
+    if doubleIntegrator(ii) && all(alphaDist(1:n(ii), ii) == alphaDist2) && numObjective(ii) == 1
+        a2betaIdx = ii;
+        a2beta = struct("init", init, "hist", hist.out);
+    end
+end
+
+commsRadius = unique(commsRadius); assert(isscalar(commsRadius));
+collisionRadius = unique(collisionRadius); assert(isscalar(collisionRadius));
+sensors = flip(unique(alphaDist(1, :)));
+n_unique = sort(unique(n));
+nGroups = length(n_unique);
+
+% Build config label for each run
+config = strings(nRuns, 1);
+baseConfig = strings(nRuns, 1);
+for ii = 1:nRuns
+    s = "";
+    if numObjective(ii) == 1
+        s = s + "A";
+    elseif numObjective(ii) == 2
+        s = s + "B";
+    end
+    if alphaDist(1, ii) == sensors(1)
+        s = s + "_I";
+    elseif alphaDist(1, ii) == sensors(2)
+        s = s + "_II";
+    end
+    if ~doubleIntegrator(ii)
+        s = s + "_alpha";
+    else
+        s = s + "_beta";
+    end
+    baseConfig(ii) = s;
+    config(ii) = n(ii) + "_" + s;
+end
+configOrder = unique(baseConfig(n == n_unique(1)), 'stable');
+nConfigsPerN = length(configOrder);
+
+%%
+close all;
+f1 = figure;
+x1 = axes;
+
+C_mean = NaN(nGroups, nConfigsPerN);
+C_var = NaN(nGroups, nConfigsPerN);
+for ii = 1:nGroups
+    for jj = 1:nConfigsPerN
+        mask = (n == n_unique(ii)) & (baseConfig == configOrder(jj));
+        C_mean(ii, jj) = mean(Cfinal(mask));
+        C_var(ii, jj) = var(Cfinal(mask));
+    end
+end
+
+hBar = bar(x1, C_mean);
+hold(x1, 'on');
+for jj = 1:nConfigsPerN
+    xPos = hBar(jj).XEndPoints;
+    errorbar(x1, xPos, C_mean(:, jj), C_var(:, jj), 'k.', 'LineWidth', 1, 'HandleVisibility', 'off');  % disabled the error bars because they are small to the point of meaninglessness
+end
+hold(x1, 'off');
+set(x1, 'XTickLabel', string(n_unique));
+xlabel("Number of agents");
+ylabel("Final coverage (normalized)");
+title("Final performance of parameterizations");
+legend(["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "latex", "Location", "northwest");
+grid("on");
+ylim([0, 1/2]);
+
+savefig(f1, "plot1.fig");
+exportgraphics(f1, "plot1.png");
+
+%%
+f2 = figure;
+x2 = axes;
+
+% Compute pairwise distances between agents
+maxPairs = nchoosek(6, 2);
+pairDist = cell(maxPairs, nRuns);
+for ii = 1:nRuns
+    pp = 0;
+    for jj = 1:n(ii)-1
+        for kk = jj+1:n(ii)
+            pp = pp + 1;
+            pairDist{pp, ii} = vecnorm(positions{jj, ii} - positions{kk, ii}, 2, 2);
+        end
+    end
+end
+
+% Cap pairwise distances at communications range
+for ii = 1:nRuns
+    nPairs = nchoosek(n(ii), 2);
+    for pp = 1:nPairs
+        pairDist{pp, ii} = min(pairDist{pp, ii}, commsRadius);
+    end
+end
+
+% Compute mean, min, max pairwise distance across all pairs and timesteps per run
+meanPairDist = NaN(nRuns, 1);
+minPairDist = NaN(nRuns, 1);
+maxPairDist = NaN(nRuns, 1);
+for ii = 1:nRuns
+    nPairs = nchoosek(n(ii), 2);
+    D = vertcat(pairDist{1:nPairs, ii});
+    meanPairDist(ii) = mean(D);
+    minPairDist(ii) = min(D);
+    maxPairDist(ii) = max(D);
+end
+
+% Group pairwise distance stats by (n, config), aggregating across reps
+meanD = NaN(nGroups, nConfigsPerN);
+minD = NaN(nGroups, nConfigsPerN);
+maxD = NaN(nGroups, nConfigsPerN);
+for ii = 1:nGroups
+    for jj = 1:nConfigsPerN
+        mask = (n == n_unique(ii)) & (baseConfig == configOrder(jj));
+        meanD(ii, jj) = mean(meanPairDist(mask));
+        minD(ii, jj) = min(minPairDist(mask));
+        maxD(ii, jj) = max(maxPairDist(mask));
+    end
+end
+
+% Plot whiskers (min to max) with mean markers
+barWidth = 0.8;
+groupWidth = barWidth / nConfigsPerN;
+hold(x2, 'on');
+for jj = 1:nConfigsPerN
+    xPos = (1:nGroups) + (jj - (nConfigsPerN + 1) / 2) * groupWidth;
+    errorbar(x2, xPos, meanD(:, jj), meanD(:, jj) - minD(:, jj), maxD(:, jj) - meanD(:, jj), ...
+        'o', 'LineWidth', 1.5, 'MarkerSize', 6, 'CapSize', 10);
+end
+hold(x2, 'off');
+set(x2, 'XTick', 1:nGroups, 'XTickLabel', string(n_unique));
+xlabel(x2, "Number of agents");
+ylabel(x2, "Pairwise distance");
+title(x2, "Pairwise Agent Distances (min/mean/max)");
+legend(x2, ["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "latex");
+grid(x2, "on");
+
+yline(collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+yline(commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+ylim([0, commsRadius + 5]);
+
+savefig(f2, "plot2.fig");
+exportgraphics(f2, "plot2.png");

plot_3.m

@@ -0,0 +1,142 @@
+clear;
+% Load data
+dataPath = fullfile('.', 'sandbox', 'plot3');
+simHists = dir(dataPath); simHists = simHists(3:end);
+simInits = simHists(endsWith({simHists.name}, 'miSimInits.mat'));
+simHists = simHists(endsWith({simHists.name}, 'miSimHist.mat'));
+assert(length(simHists) == length(simInits), "input data availability mismatch");
+assert(isscalar(simHists));
+
+init = fullfile(simInits(1).folder, simInits(1).name);
+hist = fullfile(simHists(1).folder, simHists(1).name);
+
+init = load(init);
+hist = load(hist);
+hist = hist.out;
+
+f3 = figure;
+x3 = axes;
+assert(size(init.objectivePos, 1) == 1)
+assert(hist.useDoubleIntegrator);
+
+plot(hist.perf./init.objectiveIntegral, "LineWidth", 2);
+hold("on");
+for ii = 1:length(hist.agent)
+    plot(hist.agent(ii).perf./init.objectiveIntegral, "LineWidth", 2);
+end
+grid("on");
+ylabel("Performance (normalized)");
+xlabel("Timestep");
+legend(["Cumulative"; "Agent 1"; "Agent 2"; "Agent 3"; "Agent 4"], "Location", "northwest");
+title("$AII\beta$ Performance", "Interpreter", "latex");
+
+savefig(f3, "plot3.fig");
+exportgraphics(f3, "plot3.png");
+
+f4 = figure;
+x4 = axes;
+
+% Compute pairwise distances between agents over time
+nAgents = length(hist.agent);
+commsRadius = hist.agent(1).commsRadius;
+collisionRadius = hist.agent(1).collisionRadius;
+nPairs = nchoosek(nAgents, 2);
+T = size(hist.agent(1).pos, 1);
+pairDistMat = NaN(T, nPairs);
+pp = 0;
+for jj = 1:nAgents-1
+    for kk = jj+1:nAgents
+        pp = pp + 1;
+        pairDistMat(:, pp) = vecnorm(hist.agent(jj).pos - hist.agent(kk).pos, 2, 2);
+    end
+end
+
+% Cap at communications range
+% pairDistMat = min(pairDistMat, commsRadius);
+
+% Plot all pairwise distances over time
+hold(x4, 'on');
+hLeft = gobjects(nPairs, 1);
+for pp = 1:nPairs
+    hLeft(pp) = plot(x4, pairDistMat(:, pp), 'LineWidth', 2);
+end
+yline(x4, collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+yline(x4, commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+hold(x4, 'off');
+xlabel(x4, "Timestep");
+ylabel(x4, "Pairwise distance");
+title(x4, "$AII\beta$ Pairwise Agent Distances and Barrier Function Values", "Interpreter", "latex");
+grid(x4, "on");
+ylim(x4, [0, commsRadius + 5]);
+
+% Build legend labels
+pairLabels = strings(nPairs, 1);
+pp = 0;
+for jj = 1:nAgents-1
+    for kk = jj+1:nAgents
+        pp = pp + 1;
+        pairLabels(pp) = sprintf("Agents %d-%d Distance", jj, kk);
+    end
+end
+
+l = legend(hLeft(:), pairLabels(:), "Location", "northeast");
+
+savefig(f4, "plot4_distanceOnly.fig");
+exportgraphics(f4, "plot4_distanceOnly.png");
+
+% Plot all barrier function values on right Y-axis
+nObs = init.numObstacles;
+nAA = nchoosek(nAgents, 2);
+nAO = nAgents * nObs;
+nAD = nAgents * 6;
+nComms = size(hist.barriers, 1) - nAA - nAO - nAD;
+
+yyaxis(x4, 'right');
+hold(x4, 'on');
+
+% Color palettes: pairs share colors across collision/comms,
+% agents share colors across obstacle/domain
+pairColors = lines(nAA);
+agentColors = lines(nAgents);
+
+% Row offsets in hist.barriers
+colStart = 1;
+obsStart = colStart + nAA;
+domStart = obsStart + nAO;
+comStart = domStart + nAD;
+
+% Collision + Comms barriers grouped per pair (same color)
+hRight = gobjects(0, 1);
+rightLabels = strings(0, 1);
+for pp = 1:nAA
+    hRight(end+1) = plot(x4, hist.barriers(colStart + pp - 1, :), '--', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    rightLabels(end+1) = sprintf('h_{col} %d', pp);
+end
+for pp = 1:nComms
+    hRight(end+1) = plot(x4, hist.barriers(comStart + pp - 1, :), '-.', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    rightLabels(end+1) = sprintf('h_{com} %d', pp);
+end
+
+% Obstacle barriers — colored by agent
+% idx = obsStart;
+% for aa = 1:nAgents
+%     for oo = 1:nObs
+%         hRight(end+1) = plot(x4, hist.barriers(idx, :), ':', 'LineWidth', 1, 'Color', agentColors(aa, :));
+%         rightLabels(end+1) = sprintf('h_{obs} a%d-o%d', aa, oo);
+%         idx = idx + 1;
+%     end
+% end
+
+hold(x4, 'off');
+ylabel(x4, "Barrier function $h$", "Interpreter", "latex");
+
+% Clamp both Y-axes to start at 0
+yyaxis(x4, 'left');  ylim(x4, [0, 25]);
+yyaxis(x4, 'right'); ylim(x4, [0, 275]);
+x4.YAxis(2).Color = 'k';
+
+% Combined legend
+l = legend([hLeft(:); hRight(:)], [pairLabels(:); rightLabels(:)], "Location", "eastoutside");
+
+savefig(f4, "plot4.fig");
+exportgraphics(f4, "plot4.png");

resources/project/AYz988O6MmLDfGQa1POLekzFkGo/YCy7McFB8-ln__QHYP5j7X7nQI8d.xml

@@ -0,0 +1,2 @@
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resources/project/AYz988O6MmLDfGQa1POLekzFkGo/YCy7McFB8-ln__QHYP5j7X7nQI8p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
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resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/q1TwgWjEDIn-a93hPi1WGodL3NYd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test"/>
+    </Category>
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resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/q1TwgWjEDIn-a93hPi1WGodL3NYp.xml

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resources/project/Xaysz7d0ZEEdz7yS61mKTAp17xo/GbYZ0TkPTXbbWS6cBc7HG5YmHQId.xml

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resources/project/Xaysz7d0ZEEdz7yS61mKTAp17xo/GbYZ0TkPTXbbWS6cBc7HG5YmHQIp.xml

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resources/project/o8EfsliYZoi0Pg0hEr9bLYBd-k0/C05cVxQ9NvFXxKc5bQbtmN_GvSAd.xml

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resources/project/o8EfsliYZoi0Pg0hEr9bLYBd-k0/C05cVxQ9NvFXxKc5bQbtmN_GvSAp.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/AYz988O6MmLDfGQa1POLekzFkGod.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/AYz988O6MmLDfGQa1POLekzFkGop.xml

@@ -0,0 +1,2 @@
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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Xaysz7d0ZEEdz7yS61mKTAp17xod.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Xaysz7d0ZEEdz7yS61mKTAp17xop.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/o8EfsliYZoi0Pg0hEr9bLYBd-k0d.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/o8EfsliYZoi0Pg0hEr9bLYBd-k0p.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/zpVmgHK5gbVcPgNcOE2ip90e6Dwd.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/zpVmgHK5gbVcPgNcOE2ip90e6Dwp.xml

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sd.xml

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sp.xml

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/e-EiR3xDuOjis31Xf2_ZV1uoriEd.xml

@@ -0,0 +1,6 @@
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+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/e-EiR3xDuOjis31Xf2_ZV1uoriEp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plot_3.m" type="File"/>

resources/project/zpVmgHK5gbVcPgNcOE2ip90e6Dw/WwFoZBvO-jYGdGTuAqgFvzbHuysd.xml

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

resources/project/zpVmgHK5gbVcPgNcOE2ip90e6Dw/WwFoZBvO-jYGdGTuAqgFvzbHuysp.xml

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

test/results.m

@@ -0,0 +1,338 @@
+classdef results < matlab.unittest.TestCase
+    properties (Constant, Access = private)
+        seed = 1;
+        domainSize = [150, 150, 100]; % fixed domain size [X, Y, Z]
+    end
+
+    properties (Access = private)
+        % System under test
+        testClass = miSim;
+
+        %% Diagnostic Parameters
+        % No effect on simulation dynamics
+        makeVideo = true; % disable video writing for big performance increase
+        makePlots = true; % disable plotting for big performance increase (also disables video)
+        plotCommsGeometry = false; % disable plotting communications geometries
+
+        %% Scenario Reinitialization
+        % Number of extra reinitializations per test case (3 n-values x 4 configs = 12).
+        % Order: n3/A_1_alpha, n3/A_1_beta, n3/A_2_alpha, n3/B_1_beta,
+        %        n5/A_1_alpha, ..., n6/B_1_beta
+        % Set inspectScenarios = true to pause after init for manual review.
+        % At the keyboard prompt, type the number of reinits needed into
+        % the variable 'reinitCount', then 'dbcont' to continue.
+        inspectScenarios = false;
+        reinit = zeros(1, 12);
+
+        %% Fixed Test Parameters
+        useFixedTopology = true; % No lesser neighbor, fixed network instead
+        discretizationStep = 0.5;
+        protectedRange = 5;
+        collisionRadius = 5;
+        sensorPerformanceMinimum = 0.005;
+        comRange = 20;
+        maxIter = 400;
+        initialStepSize = 1;
+        % Each row: [minX minY minZ maxX maxY maxZ]
+        obstacleCorners = [results.domainSize(1)/2, results.domainSize(2)*5/8, 0, results.domainSize(1)*5/8, results.domainSize(2), 35;
+                           results.domainSize(1)/3, 0, 0, results.domainSize(1)/2, results.domainSize(2)*3/8, 40];
+        barrierGain = 1;
+        barrierExponent = 1;
+        timestep = 0.5;
+        dampingCoeff = 2;
+    end
+
+    properties (TestParameter)
+        %% Test Iterations
+        % Specific parameter combos to run iterations on
+        n = struct('n3', 3, 'n5', 5, 'n6', 6); % number of agents
+        config = results.makeConfigs();
+    end
+
+    properties (MethodSetupParameter)
+        trials = struct('r1', 1, 'r2', 2, 'r3', 3, 'r4', 4, 'r5', 5);
+    end
+
+    methods (TestMethodSetup)
+        function setSeed(tc, trials)
+            rng(tc.seed + trials);
+        end
+    end
+
+    methods (Static, Access = public)
+        function c = makeConfigs()
+            rng(results.seed);
+            abMin = 6; % alpha*beta >= 6 ensures membership(0) = tanh(3) >= 0.995
+            alphaDist = rand(1, 2) .* [75, 45];
+            betaDist = abMin ./ alphaDist + rand(1, 2) .* [1, 1/8] .* (20 - abMin ./ alphaDist);
+            alphaTilt = 10 + rand(1, 2) .* [20, 20];
+            betaTilt = abMin ./ alphaTilt + rand(1, 2) .* (50 - abMin ./ alphaTilt);
+            sensors = struct('alphaDist', num2cell(alphaDist), 'alphaTilt', num2cell(alphaTilt), 'betaDist', num2cell(betaDist), 'betaTilt', num2cell(betaTilt));
+            sensor1 = sigmoidSensor;
+            sensor2 = sigmoidSensor;
+            sensor1 = sensor1.initialize(sensors(1).alphaDist, sensors(1).betaDist, sensors(1).alphaTilt, sensors(1).betaTilt);
+            sensor2 = sensor2.initialize(sensors(2).alphaDist, sensors(2).betaDist, sensors(2).alphaTilt, sensors(2).betaTilt);
+            sensor1.plotParameters;
+            sensor2.plotParameters;
+            c = struct('A_1_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', false), ...
+                        'A_1_beta',  struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', true), ...
+                        'A_2_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(2), 'doubleIntegrator', false), ...
+                        'B_1_beta',  struct('objectivePos', [[3, 1] / 4 .* results.domainSize(1:2); [3, 1] / 4 .* results.domainSize(1:2) + 25 .* [-1, 1] ./ sqrt(2)], 'sensor', sensors(1), 'doubleIntegrator', true));
+        end
+    end
+
+    methods (Test)
+        function plot1_runs(tc, n, config)
+            % if n == 5 && config.doubleIntegrator == true
+            %     tc.makePlots = true;
+            % else
+            %     tc.makePlots = false;
+            % end
+            % Compute test case index for reinit lookup
+            nKeys = fieldnames(tc.n);
+            configKeys = fieldnames(tc.config);
+            nIdx = find(cellfun(@(k) tc.n.(k) == n, nKeys));
+            configIdx = find(cellfun(@(k) isequal(tc.config.(k), config), configKeys));
+            testIdx = (nIdx - 1) * numel(configKeys) + configIdx;
+
+            % Determine number of reinitializations
+            reinitCount = tc.reinit(testIdx);
+
+            for reroll = 0:reinitCount
+
+            % Set up fixed-size domain
+            minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
+            % Place sensing objective(s) at fixed positions from config
+            objectiveMu = config.objectivePos;
+            numDist = size(objectiveMu, 1);
+            objectiveSigma = [];
+            for ii = 1:numDist
+                sig = [200, 140; 140, 280];
+                if ~mod(ii, 2)
+                    sig = rot90(sig,2);
+                end
+                sig = reshape(sig, [1, 2, 2]);
+                objectiveSigma = cat(1, objectiveSigma, sig);
+            end
+            tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
+            tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
+            
+            % Initialize agents
+            agents = cell(n, 1);
+            [agents{:}] = deal(agent);
+
+            % Initialize sensor model
+            sensorModel = sigmoidSensor;
+            sensorModel = sensorModel.initialize(config.sensor.alphaDist, config.sensor.betaDist, config.sensor.alphaTilt, config.sensor.betaTilt);
+
+            % Initialize fixed obstacles from corner coordinates
+            nObs = size(tc.obstacleCorners, 1);
+            obstacles = cell(nObs, 1);
+            for jj = 1:nObs
+                corners = [tc.obstacleCorners(jj, 1:3); tc.obstacleCorners(jj, 4:6)];
+                obstacles{jj} = rectangularPrism;
+                obstacles{jj} = obstacles{jj}.initialize(corners, REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", jj));
+            end
+
+            % Place agents in small-x, large-y quadrant (opposite objectives)
+            % with chain topology: each agent connected only to its neighbors
+            midXY = (tc.testClass.domain.minCorner(1:2) + tc.testClass.domain.maxCorner(1:2)) / 2;
+            quadrantSize = tc.testClass.domain.maxCorner(1:2) / 2;
+            margin = quadrantSize / 6;
+            agentBounds = [tc.testClass.domain.minCorner(1) + margin(1), ...
+                           midXY(2) + margin(2); ...
+                           midXY(1) - margin(1), ...
+                           tc.testClass.domain.maxCorner(2) - margin(2)];
+            % Find a fixed altitude where sensor performance passes at ALL
+            % corners of the placement bounds (worst-case XY)
+            corners = [agentBounds(1,1), agentBounds(1,2);
+                       agentBounds(2,1), agentBounds(1,2);
+                       agentBounds(1,1), agentBounds(2,2);
+                       agentBounds(2,1), agentBounds(2,2)];
+            agentAlt = tc.testClass.domain.maxCorner(3) - tc.collisionRadius;
+            while agentAlt > minAlt + 2 * tc.collisionRadius
+                worstPerf = inf;
+                for cc = 1:4
+                    p = sensorModel.sensorPerformance([corners(cc,:), agentAlt], [corners(cc,:), 0]);
+                    worstPerf = min(worstPerf, p);
+                end
+                if worstPerf >= tc.sensorPerformanceMinimum * 10
+                    break;
+                end
+                agentAlt = agentAlt - 1;
+            end
+            chainSpacingMin = 0.7 * tc.comRange;
+            chainSpacingMax = 0.9 * tc.comRange;
+            collisionGeometry = spherical;
+            for jj = 1:n
+                retry = true;
+                while retry
+                    retry = false;
+
+                    if jj == 1
+                        % First agent: random XY within bounds, fixed altitude
+                        agentPos = [agentBounds(1, :) + (agentBounds(2, :) - agentBounds(1, :)) .* rand(1, 2), agentAlt];
+                    else
+                        % Place at 0.7-0.9 * comRange in XY from previous agent, same altitude
+                        dir = randn(1, 2);
+                        dir = dir / norm(dir);
+                        r = chainSpacingMin + rand * (chainSpacingMax - chainSpacingMin);
+                        agentPos = [agents{jj-1}.pos(1:2) + r * dir, agentAlt];
+                    end
+
+                    % Check within placement bounds (XY only, Z is fixed)
+                    if any(agentPos(1:2) <= agentBounds(1, :)) || any(agentPos(1:2) >= agentBounds(2, :))
+                        retry = true;
+                        continue;
+                    end
+
+                    % Check sensor performance threshold; lower altitude if it fails
+                    if sensorModel.sensorPerformance(agentPos, [agentPos(1:2), 0]) < tc.sensorPerformanceMinimum * 10
+                        agentAlt = max(agentAlt - tc.collisionRadius, minAlt + 1.1 * tc.collisionRadius);
+                        agentPos(3) = agentAlt;
+                        % If we've hit the floor and still failing, widen XY search
+                        if agentAlt <= minAlt + 2 * tc.collisionRadius
+                            agentBounds = [tc.testClass.domain.minCorner(1) + tc.collisionRadius, ...
+                                           tc.testClass.domain.minCorner(2) + tc.collisionRadius; ...
+                                           tc.testClass.domain.maxCorner(1) - tc.collisionRadius, ...
+                                           tc.testClass.domain.maxCorner(2) - tc.collisionRadius];
+                        end
+                        retry = true;
+                        continue;
+                    end
+
+                    % Must be within comRange of previous agent (chain link)
+                    if jj > 1 && norm(agents{jj-1}.pos - agentPos) >= tc.comRange
+                        retry = true;
+                        continue;
+                    end
+
+                    % Must be BEYOND comRange of all non-adjacent agents (sparsity)
+                    % for kk = 1:(jj - 2)
+                    %     if norm(agents{kk}.pos - agentPos) < tc.comRange
+                    %         retry = true;
+                    %         break;
+                    %     end
+                    % end
+                    % if retry, continue; end
+
+                    % No collision with any existing agent
+                    for kk = 1:(jj - 1)
+                        if norm(agents{kk}.pos - agentPos) < agents{kk}.collisionGeometry.radius + tc.collisionRadius
+                            retry = true;
+                            break;
+                        end
+                    end
+                    if retry, continue; end
+
+                    % No collision with any obstacle
+                    for kk = 1:nObs
+                        P = min(max(agentPos, obstacles{kk}.minCorner), obstacles{kk}.maxCorner);
+                        d = agentPos - P;
+                        if dot(d, d) <= tc.collisionRadius^2
+                            retry = true;
+                            break;
+                        end
+                    end
+                end
+
+                % Initialize agent
+                collisionGeometry = collisionGeometry.initialize(agentPos, tc.collisionRadius, REGION_TYPE.COLLISION, sprintf("Agent %d Collision Region", jj));
+                agents{jj} = agents{jj}.initialize(agentPos, collisionGeometry, sensorModel, tc.comRange, tc.maxIter, tc.initialStepSize, sprintf("Agent %d", jj), tc.plotCommsGeometry);
+            end
+
+            % Randomly shuffle agents to vary index-based topology
+            agents = agents(randperm(numel(agents)));
+
+            end % reroll loop
+
+            % Inspect scenario if enabled
+            if tc.inspectScenarios
+                tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, tc.maxIter, obstacles, tc.makePlots, tc.makeVideo, config.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+                fprintf("Test %d (n=%d, config=%s): reinit=%d. Inspect plot.\n", testIdx, n, configKeys{configIdx}, reinitCount);
+                fprintf("To add reinits, update tc.reinit(%d) and rerun.\n", testIdx);
+                keyboard;
+                tc.testClass = tc.testClass.teardown();
+                return;
+            end
+
+            % Set up simulation
+            tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, tc.maxIter, obstacles, tc.makePlots, tc.makeVideo, config.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+            
+            % Save simulation parameters to output file
+            tc.testClass.writeInits();
+
+            % Run
+            tc.testClass = tc.testClass.run();
+
+            % Cleanup
+            tc.testClass = tc.testClass.teardown();
+            close all;
+        end
+        function AIIbeta_plots_3_4(tc)
+            % test-specific parameters
+            tc.makePlots = true;
+            tc.makeVideo = true;
+            maxIters = 400;
+
+            configs = results.makeConfigs();
+            c = configs.A_2_alpha;
+            c.doubleIntegrator = true; % make a2alpha into a2beta
+
+            % Set up fixed-size domain
+            minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
+            tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
+            
+            % Set objective
+            objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
+            objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
+            tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
+            
+            % Set agent initial states (fully connected network of 4)
+            centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
+            d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
+            agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
+            agentAlt = minAlt * 1.5;
+            agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
+
+            agents = {agent, agent, agent, agent};
+            cg = spherical;
+            sensorModel = sigmoidSensor;
+            sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
+            agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
+            agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
+            agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
+            agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
+            
+            obstacles = cell(1, 1);
+            obstacles{1} = rectangularPrism;
+            obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
+
+            % Set up simulation
+            tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+            
+            % Save simulation parameters to output file
+            tc.testClass.writeInits();
+
+            % Run
+            tc.testClass = tc.testClass.run();
+
+            % Cleanup
+            tc.testClass = tc.testClass.teardown();
+        end
+    end
+
+    methods
+        function c = obstacleCollisionCheck(~, obstacles, obstacle)
+            % Check if the obstacle intersects with any other obstacles
+            c = false;
+            for ii = 1:size(obstacles, 1)
+                if geometryIntersects(obstacles{ii}, obstacle)
+                    c = true;
+                    return;
+                end
+            end
+        end
+
+    end
+end

util/objectiveFunctionWrapper.m

@@ -9,7 +9,7 @@ function f = objectiveFunctionWrapper(center, sigma)
     arguments (Output)
         f (1, 1) {mustBeA(f, "function_handle")};
     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