a

.gitignore

@@ -40,4 +40,11 @@ codegen/
 *.sbproj.bak
 
 # Sandbox contents
-sandbox/*
+sandbox/*
+
+# Videos
+*.mp4
+*.avi
+
+# Figures
+*.fig

@agent/agent.m

@@ -0,0 +1,45 @@
+classdef agent
+    properties (SetAccess = public, GetAccess = public)
+        % Identifiers
+        label = "";
+
+        % Sensor
+        sensorModel;
+        sensingLength = 0.05; % length parameter used by sensing function
+
+        % State
+        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;
+        barrierFunction;
+        dBarrierFunction;
+
+        % FOV cone
+        fovGeometry;
+
+        % Communication
+        comRange = NaN;
+        commsGeometry = spherical;
+        lesserNeighbors = [];
+
+        performance = 0;
+
+        % Plotting
+        scatterPoints;
+        debug = false;
+        debugFig;
+        plotCommsGeometry = true;
+    end
+
+    methods (Access = public)
+        [obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
+        [obj] = run(obj, domain, partitioning, t, index);
+        [obj, f] = plot(obj, ind, f);
+        updatePlots(obj);
+    end
+end

@agent/initialize.m

@@ -0,0 +1,80 @@
+function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, label, debug, plotCommsGeometry)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'agent')};
+        pos (1, 3) double;
+        vel (1, 3) double;
+        pan (1, 1) double;
+        tilt (1, 1) double;
+        collisionGeometry (1, 1) {mustBeGeometry};
+        sensorModel (1, 1) {mustBeSensor};
+        comRange (1, 1) double;
+        label (1, 1) string = "";
+        debug (1, 1) logical = false;
+        plotCommsGeometry (1, 1) logical = false;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'agent')};
+    end
+
+    obj.pos = pos;
+    obj.vel = vel;
+    obj.pan = pan;
+    obj.tilt = tilt;
+    obj.collisionGeometry = collisionGeometry;
+    obj.sensorModel = sensorModel;
+    obj.label = label;
+    obj.debug = debug;
+    obj.plotCommsGeometry = plotCommsGeometry;
+
+    % Add spherical geometry based on com range
+    obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));
+
+    if obj.debug
+        obj.debugFig = figure;
+        tiledlayout(obj.debugFig, "TileSpacing", "tight", "Padding", "compact");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Objective");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Sensor Performance");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Gradient Objective");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Gradient Sensor Performance");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Sensor Performance x Gradient Objective");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Gradient Sensor Performance x Objective");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Agent Performance (C)");
+        nexttile;
+        axes(obj.debugFig.Children(1).Children(1));
+        axis(obj.debugFig.Children(1).Children(1), "image");
+        xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
+        title(obj.debugFig.Children(1).Children(1), "Gradient Agent Performance (del C)");
+    end
+
+    % Initialize FOV cone
+    obj.fovGeometry = cone;
+    obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
+end

@agent/plot.m

@@ -0,0 +1,40 @@
+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
+
+    % Create axes if they don't already exist
+    f = firstPlotSetup(f);
+
+    % Plot points representing the agent position
+    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 communications geometry
+    if obj.plotCommsGeometry
+        [obj.commsGeometry, f] = obj.commsGeometry.plotWireframe(ind, f);
+    end
+
+    % Plot FOV geometry
+    [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
+end

@agent/run.m

@@ -0,0 +1,155 @@
+function obj = run(obj, domain, partitioning, t, index)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'agent')};
+        domain (1, 1) {mustBeGeometry};
+        partitioning (:, :) double;
+        t (1, 1) double;
+        index (1, 1) double;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'agent')};
+    end
+
+    % Collect objective function values across partition
+    partitionMask = partitioning == index;
+    objectiveValues = domain.objective.values(partitionMask); % f(omega) on W_n
+
+    % Compute sensor performance across partition
+    maskedX = domain.objective.X(partitionMask);
+    maskedY = domain.objective.Y(partitionMask);
+    zFactor = 1;
+    sensorValues = obj.sensorModel.sensorPerformance(obj.pos, obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
+    sensorValuesLower = obj.sensorModel.sensorPerformance(obj.pos - [0, 0, zFactor * domain.objective.discretizationStep], obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n - [0, 0, z]) on W_n
+    sensorValuesHigher = obj.sensorModel.sensorPerformance(obj.pos + [0, 0, zFactor * domain.objective.discretizationStep], obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n - [0, 0, z]) on W_n
+
+    % Put the values back into the form of the partition to enable basic operations on this data
+    F = NaN(size(partitionMask));
+    F(partitionMask) = objectiveValues;
+    S = NaN(size(partitionMask));
+    Slower = S;
+    Shigher = S;
+    S(partitionMask) = sensorValues;
+    Slower(partitionMask) = sensorValuesLower;
+    Shigher(partitionMask) = sensorValuesHigher;
+
+    % Find agent's performance
+    C = S .* F;
+    obj.performance = [obj.performance, sum(C(~isnan(C)))]; % at current Z only
+    C = cat(3, Shigher, S, Slower) .* F;
+
+    % Compute gradient on agent's performance
+    [gradCX, gradCY, gradCZ] = gradient(C, domain.objective.discretizationStep); % grad C
+    gradC = cat(4, gradCX, gradCY, gradCZ);
+    nGradC = vecnorm(gradC, 2, 4);
+
+    if obj.debug
+        % Compute additional component-level values for diagnosing issues
+        [gradSensorPerformanceX, gradSensorPerformanceY] = gradient(S, domain.objective.discretizationStep); % grad S_n
+        [gradObjectiveX, gradObjectiveY] = gradient(F, domain.objective.discretizationStep); % grad f
+        gradS = cat(3, gradSensorPerformanceX, gradSensorPerformanceY, zeros(size(gradSensorPerformanceX))); % grad S_n
+        gradF = cat(3, gradObjectiveX, gradObjectiveY, zeros(size(gradObjectiveX))); % grad f
+
+        ii = 8;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), F./max(F, [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), S./max(S, [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), vecnorm(gradF, 2, 3)./max(vecnorm(gradF, 2, 3), [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), vecnorm(gradS, 2, 3)./max(vecnorm(gradS, 2, 3), [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), S .* vecnorm(gradF, 2, 3)./max(vecnorm(gradF, 2, 3), [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), F .* vecnorm(gradS, 2, 3)./max(vecnorm(gradS, 2, 3), [], 'all')./(max(F .* vecnorm(gradS, 2, 3)./max(vecnorm(gradS, 2, 3), [], 'all'))));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), C./max(C, [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        ii = ii - 1;
+        hold(obj.debugFig.Children(1).Children(ii), "on");
+        cla(obj.debugFig.Children(1).Children(ii));
+        imagesc(obj.debugFig.Children(1).Children(ii), nGradC./max(nGradC, [], 'all'));
+        hold(obj.debugFig.Children(1).Children(ii), "off");
+        [x, y] = find(nGradC == max(nGradC, [], "all"));
+
+        % just pick one
+        r = randi([1, size(x, 1)]);
+        x = x(r); y = y(r);
+
+        % switch them
+        temp = x;
+        x = y;
+        y = temp;
+        
+        % find objective location in discrete domain
+        [~, xIdx] = find(domain.objective.groundPos(1) == domain.objective.X);
+        xIdx = unique(xIdx);
+        [yIdx, ~] = find(domain.objective.groundPos(2) == domain.objective.Y);
+        yIdx = unique(yIdx);
+        for ii = 8:-1:1
+            hold(obj.debugFig.Children(1).Children(ii), "on");
+            % plot GA selection
+            scatter(obj.debugFig.Children(1).Children(ii), x, y, 'go');
+            scatter(obj.debugFig.Children(1).Children(ii), x, y, 'g+');
+            % plot objective center
+            scatter(obj.debugFig.Children(1).Children(ii), xIdx, yIdx, 'ro');
+            scatter(obj.debugFig.Children(1).Children(ii), xIdx, yIdx, 'r+');
+            hold(obj.debugFig.Children(1).Children(ii), "off");
+        end
+    end
+
+    % return now if there is no data to work with, and do not move
+    if all(isnan(nGradC), 'all')
+        return;
+    end
+
+    % Use largest grad(C) value to find the direction of the next position
+    [xNextIdx, yNextIdx, zNextIdx] = ind2sub(size(nGradC), find(nGradC == max(nGradC, [], 'all')));
+    % switch them
+    temp = xNextIdx;
+    xNextIdx = yNextIdx;
+    yNextIdx = temp;
+
+    roundingScale = 10^-log10(domain.objective.discretizationStep);
+    zKey = zFactor * [1; 0; -1];
+    pNext = [floor(roundingScale .* mean(unique(domain.objective.X(:, xNextIdx))))./roundingScale, floor(roundingScale .* mean(unique(domain.objective.Y(yNextIdx, :))))./roundingScale, obj.pos(3) + zKey(zNextIdx)]; % have to do some unfortunate rounding here sometimes
+
+    % Determine next position
+    vDir = (pNext - obj.pos)./norm(pNext - obj.pos, 2);
+    rate = 0.1 - 0.0004 * t; % slow down as you get closer, coming to a stop by the end
+    nextPos = obj.pos + vDir * rate;
+
+    % Move to next position
+    obj.lastPos = obj.pos;
+    obj.pos = nextPos;
+
+    % Reinitialize collision geometry in the new position
+    d = obj.pos - obj.collisionGeometry.center;
+    if isa(obj.collisionGeometry, 'rectangularPrism')
+        obj.collisionGeometry = obj.collisionGeometry.initialize([obj.collisionGeometry.minCorner; obj.collisionGeometry.maxCorner] + d, obj.collisionGeometry.tag, obj.collisionGeometry.label);
+    elseif isa(obj.collisionGeometry, 'spherical')
+        obj.collisionGeometry = obj.collisionGeometry.initialize(obj.collisionGeometry.center + d, obj.collisionGeometry.radius, obj.collisionGeometry.tag, obj.collisionGeometry.label);
+    else
+        error("?");
+    end
+end

@agent/updatePlots.m

@@ -0,0 +1,46 @@
+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
+
+    % Communications geometry edges
+    if obj.plotCommsGeometry
+        for jj = 1:size(obj.commsGeometry.lines, 2)
+            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
+    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

@miSim/constrainMotion.m

@@ -0,0 +1,153 @@
+function [obj] = constrainMotion(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    if size(obj.agents, 1) < 2
+        nAAPairs = 0;
+    else
+        nAAPairs = nchoosek(size(obj.agents, 1), 2); % unique agent/agent pairs
+    end
+
+    agents = [obj.agents{:}];
+    v = reshape(([agents.pos] - [agents.lastPos])./obj.timestep, 3, size(obj.agents, 1))';
+
+    % Initialize QP based on number of agents and obstacles
+    nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs
+    nADPairs = size(obj.agents, 1) * 5; % agents x (4 walls + 1 ceiling)
+    nLNAPairs = sum(obj.constraintAdjacencyMatrix, 'all') - size(obj.agents, 1);
+    total = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
+    kk = 1;
+    A = zeros(total, 3 * size(obj.agents, 1));
+    b = zeros(total, 1);
+
+    % Set up collision avoidance constraints
+    h = NaN(size(obj.agents, 1));
+    h(logical(eye(size(obj.agents, 1)))) = 0; % self value is 0
+    for ii = 1:(size(obj.agents, 1) - 1)
+        for jj = (ii + 1):size(obj.agents, 1)
+            h(ii, jj) = norm(agents(ii).pos - agents(jj).pos)^2 - (agents(ii).collisionGeometry.radius + agents(jj).collisionGeometry.radius)^2;
+            h(jj, ii) = h(ii, jj);
+            
+            A(kk, (3 * ii - 2):(3 * ii)) =  -2 * (agents(ii).pos - agents(jj).pos);
+            A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
+            b(kk) = obj.barrierGain * h(ii, jj)^3;
+            kk = kk + 1;
+        end
+    end
+
+    hObs = NaN(size(obj.agents, 1), size(obj.obstacles, 1));
+    % Set up obstacle avoidance constraints
+    for ii = 1:size(obj.agents, 1)
+        for jj = 1:size(obj.obstacles, 1)
+            % find closest position to agent on/in obstacle
+            cPos = obj.obstacles{jj}.closestToPoint(agents(ii).pos);
+
+            hObs(ii, jj) = dot(agents(ii).pos - cPos, agents(ii).pos - cPos) - agents(ii).collisionGeometry.radius^2;
+
+            A(kk, (3 * ii - 2):(3 * ii)) = -2 * (agents(ii).pos - cPos);
+            b(kk) = obj.barrierGain * hObs(ii, jj)^3;
+           
+            kk = kk + 1;
+        end
+    end
+    
+    % Set up domain constraints (walls and ceiling only)
+    % Floor constraint is implicit with an obstacle corresponding to the
+    % minimum allowed altitude, but I included it anyways
+    for ii = 1:size(obj.agents, 1)
+        % X minimum
+        h_xMin = (agents(ii).pos(1) - obj.domain.minCorner(1)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [-1, 0, 0];
+        b(kk) = obj.barrierGain * h_xMin^3;
+        kk = kk + 1;
+    
+        % X maximum
+        h_xMax = (obj.domain.maxCorner(1) - agents(ii).pos(1)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [1, 0, 0];
+        b(kk) = obj.barrierGain * h_xMax^3;
+        kk = kk + 1;
+    
+        % Y minimum
+        h_yMin = (agents(ii).pos(2) - obj.domain.minCorner(2)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [0, -1, 0];
+        b(kk) = obj.barrierGain * h_yMin^3;
+        kk = kk + 1;
+    
+        % Y maximum
+        h_yMax = (obj.domain.maxCorner(2) - agents(ii).pos(2)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [0, 1, 0];
+        b(kk) = obj.barrierGain * h_yMax^3;
+        kk = kk + 1;
+    
+        % Z minimum
+        h_zMin = (agents(ii).pos(3) - obj.domain.minCorner(3)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
+        b(kk) = obj.barrierGain * h_zMin^3;
+        kk = kk + 1;
+    
+        % Z maximum
+        h_zMax = (obj.domain.maxCorner(2) - agents(ii).pos(2)) - agents(ii).collisionGeometry.radius;
+        A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, 1];
+        b(kk) = obj.barrierGain * h_zMax^3;
+        kk = kk + 1;
+    end
+
+    % Save off h function values (ignoring network constraints which may evolve in time)
+    obj.h(:, obj.timestepIndex) = [h(triu(true(size(obj.agents, 1)), 1)); reshape(hObs, [], 1); h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax;]; 
+
+    % Add communication network constraints
+    hComms = NaN(size(obj.agents, 1));
+    hComms(logical(eye(size(obj.agents, 1)))) = 0;
+    for ii = 1:(size(obj.agents, 1) - 1)
+        for jj = (ii + 1):size(obj.agents, 1)
+            if obj.constraintAdjacencyMatrix(ii, jj)
+                hComms(ii, jj) = min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])^2 - norm(agents(ii).pos - agents(jj).pos)^2;
+
+                A(kk, (3 * ii - 2):(3 * ii)) =  2 * (agents(ii).pos - agents(jj).pos);
+                A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii));
+                b(kk) = obj.barrierGain * hComms(ii, jj);
+
+                % dVNominal = v(ii, 1:3) - v(jj, 1:3); % nominal velocities
+                % h_dot_nom = -2 * (agents(ii).pos - agents(jj).pos) * dVNominal';
+                % b(kk) = -h_dot_nom + obj.barrierGain * hComms(ii, jj)^3;
+
+                kk = kk + 1; 
+            end
+        end
+    end
+
+    % Solve QP program generated earlier
+    vhat = reshape(v', 3 * size(obj.agents, 1), 1);
+    H = 2 * eye(3 * size(obj.agents, 1));
+    f = -2 * vhat;
+    
+    % Update solution based on constraints
+    assert(size(A,2) == size(H,1))
+    assert(size(A,1) == size(b,1))
+    assert(size(H,1) == length(f))
+    opt = optimoptions('quadprog', 'Display', 'off');
+    [vNew, ~, exitflag, m] = quadprog(sparse(H), double(f), A, b, [],[], [], [], [], opt);
+    assert(exitflag == 1, sprintf('quadprog failure... %s%s', newline, m.message));
+    vNew = reshape(vNew, 3, size(obj.agents, 1))';
+
+    if exitflag <= 0
+        warning("QP failed, continuing with unconstrained solution...")
+        vNew = v;
+    end
+
+    % Update the "next position" that was previously set by unconstrained
+    % GA using the constrained solution produced here
+    for ii = 1:size(vNew, 1)
+        obj.agents{ii}.pos = obj.agents{ii}.lastPos + vNew(ii, :) * obj.timestep;
+    end
+
+    % Here we run this at the simulation level, but in reality there is no
+    % parent level, so this would be run independently on each agent.
+    % Running at the simulation level is just meant to simplify the
+    % simulation
+
+end

@miSim/initialize.m

@@ -0,0 +1,93 @@
+function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makePlots, makeVideo)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+        domain (1, 1) {mustBeGeometry};
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        agents (:, 1) cell;
+        minAlt (1, 1) double = 1;
+        timestep (:, 1) double = 0.05;
+        partitoningFreq (:, 1) double = 0.25
+        maxIter (:, 1) double = 1000;
+        obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
+        makePlots(1, 1) logical = true;
+        makeVideo (1, 1) logical = true;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % enable/disable plotting and video writer
+    obj.makePlots = makePlots;
+    if ~obj.makePlots
+        if makeVideo
+            warning("makeVideo set to true, but makePlots set to false. Setting makeVideo to false.");
+            makeVideo = false;
+        end
+    end
+    obj.makeVideo = makeVideo;
+
+    % Define simulation time parameters
+    obj.timestep = timestep;
+    obj.timestepIndex = 0;
+    obj.maxIter = maxIter - 1;
+
+    % Define domain
+    obj.domain = domain;
+    obj.partitioningFreq = partitoningFreq;
+
+    % Add geometries representing obstacles within the domain
+    obj.obstacles = obstacles;
+
+    % Add an additional obstacle spanning the domain's footprint to 
+    % represent the minimum allowable altitude
+    obj.minAlt = minAlt;
+    if obj.minAlt > 0
+        obj.obstacles{end + 1, 1} = rectangularPrism;
+        obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
+    end
+
+    % Define objective
+    obj.objective = objective;
+
+    % Define agents
+    obj.agents = agents;
+    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
+    for ii = 1:size(obj.agents, 1)
+        % Agent
+        if isempty(char(obj.agents{ii}.label))
+            obj.agents{ii}.label = sprintf("Agent %d", ii);
+        end
+
+        % Collision geometry
+        if isempty(char(obj.agents{ii}.collisionGeometry.label))
+            obj.agents{ii}.collisionGeometry.label = sprintf("Agent %d Collision Geometry", ii);
+        end
+    end
+
+    % Compute adjacency matrix and lesser neighbors
+    obj = obj.updateAdjacency();
+    obj = obj.lesserNeighbor();
+
+    % Set up times to iterate over
+    obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
+    obj.partitioningTimes = obj.times(obj.partitioningFreq:obj.partitioningFreq:size(obj.times, 1));
+
+    % Prepare performance data store (at t = 0, all have 0 performance)
+    obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
+
+    % Prepare h function data store
+    obj.h = NaN(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2 + size(obj.agents, 1) * size(obj.obstacles, 1) + 6, size(obj.times, 1) - 1);
+
+    % Create initial partitioning
+    obj = obj.partition();
+
+    % Initialize variable that will store agent positions for trail plots
+    obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);
+    obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
+
+    % Set up plots showing initialized state
+    obj = obj.plot();
+end

@miSim/lesserNeighbor.m

@@ -0,0 +1,76 @@
+function obj = lesserNeighbor(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % initialize solution with self-connections only
+    constraintAdjacencyMatrix = logical(eye(size(obj.agents, 1)));
+
+    for ii = 1:size(obj.agents, 1)
+        % Find lesser neighbors of each agent
+        % Lesser neighbors of ii are jj < ii in range of ii
+        lesserNeighbors = [];
+        for jj = 1:(ii - 1)
+            if obj.adjacency(ii, jj)
+                lesserNeighbors = [lesserNeighbors, jj];
+            end
+        end
+        obj.agents{ii}.lesserNeighbors = lesserNeighbors;
+        
+        % Early exit for isolated agents
+        if isempty(obj.agents{ii}.lesserNeighbors)
+            continue
+        end
+
+        % Focus on subgraph defined by lesser neighbors
+        subgraphAdjacency = obj.adjacency(obj.agents{ii}.lesserNeighbors, obj.agents{ii}.lesserNeighbors);
+
+        % Find connected components in each agent's subgraph
+        % TODO: rewrite this using matlab "conncomp" function?
+        visited = false(size(subgraphAdjacency, 1), 1);
+        components = {};
+        for jj = 1:size(subgraphAdjacency, 1)
+            if ~visited(jj)
+                reachable = bfs(subgraphAdjacency, jj);
+                visited(reachable) = true;
+                components{end+1} = obj.agents{ii}.lesserNeighbors(reachable);
+            end
+        end
+
+        % Connect to the greatest index in each connected component in the
+        % lesser neighborhood of this agent
+        for jj = 1:size(components, 2)
+            constraintAdjacencyMatrix(ii, max(components{jj})) = true;
+            constraintAdjacencyMatrix(max(components{jj}), ii) = true;
+        end
+    end
+    obj.constraintAdjacencyMatrix = constraintAdjacencyMatrix | constraintAdjacencyMatrix';
+end
+
+function cComp = bfs(subgraphAdjacency, startIdx)
+    n = size(subgraphAdjacency, 1);
+    visited = false(1, n);
+    queue = startIdx;
+    cComp = startIdx;
+    visited(startIdx) = true;
+    
+    while ~isempty(queue)
+        current = queue(1);
+        queue(1) = [];
+        
+        % Find all neighbors of current node in the subgraph
+        neighbors = find(subgraphAdjacency(current, :));
+        
+        for neighbor = neighbors
+            if ~visited(neighbor)
+                visited(neighbor) = true;
+                cComp = [cComp, neighbor];
+                queue = [queue, neighbor];
+            end
+        end
+    end
+    cComp = sort(cComp);
+end

@miSim/miSim.m

@@ -0,0 +1,77 @@
+classdef miSim
+    % multiagent interconnection simulation
+
+    % Simulation parameters
+    properties (SetAccess = private, GetAccess = public)
+        timestep = NaN; % delta time interval for simulation iterations
+        timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays)
+        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
+        constraintAdjacencyMatrix = NaN; % Adjacency matrix representing desired lesser neighbor connections
+        sensorPerformanceMinimum = 1e-6; % minimum sensor performance to allow assignment of a point in the domain to a partition
+        partitioning = NaN;
+        perf; % sensor performance timeseries array
+        performance = 0; % simulation performance timeseries vector
+        barrierGain = 100; % collision avoidance parameter
+        minAlt = 1; % minimum allowed altitude constraint
+
+        fPerf; % performance plot figure
+    end
+
+    properties (Access = private)
+        % Sim
+        t = NaN; % current sim time
+        times;
+        partitioningTimes;
+
+        % Plot objects
+        makePlots = true; % enable/disable simulation plotting (performance implications)
+        makeVideo = true; % enable/disable VideoWriter (performance implications)
+        f; % main plotting tiled layout figure
+        connectionsPlot; % objects for lines connecting agents in spatial plots
+        graphPlot; % objects for abstract network graph plot
+        partitionPlot; % objects for partition plot
+        performancePlot; % objects for sensor performance plot
+
+        posHist; % data for trail plot
+        trailPlot; % objects for agent trail plot
+
+        % Indicies for various plot types in the main tiled layout figure
+        spatialPlotIndices = [6, 4, 3, 2];
+        objectivePlotIndices = [6, 4];
+        networkGraphIndex = 5;
+        partitionGraphIndex = 1;
+
+        % CBF plotting
+        h; % h function values
+        hf; % h function plotting figure
+        caPlot; % objects for collision avoidance h function plot
+        obsPlot; % objects for obstacle h function plot
+        domPlot; % objects for domain h function plot
+    end
+
+    methods (Access = public)
+        [obj] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
+        [obj] = run(obj);
+        [obj] = lesserNeighbor(obj);
+        [obj] = constrainMotion(obj);
+        [obj] = partition(obj);
+        [obj] = updateAdjacency(obj);
+        [obj] = plot(obj);
+        [obj] = plotConnections(obj);
+        [obj] = plotPartitions(obj);
+        [obj] = plotGraph(obj);
+        [obj] = plotTrails(obj);
+        [obj] = plotH(obj);
+        [obj] = updatePlots(obj, updatePartitions);
+        validate(obj);
+    end
+    methods (Access = private)
+        [v] = setupVideoWriter(obj);
+    end
+end

@miSim/partition.m

@@ -0,0 +1,33 @@
+function obj = partition(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % 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{end + 1} = obj.sensorPerformanceMinimum * ones(size(agentPerformances{end})); % add additional layer to represent the threshold that has to be cleared for assignment to any partiton
+    agentPerformances = cat(3, agentPerformances{:});
+    
+    % Get highest performance value at each point
+    [~, idx] = max(agentPerformances, [], 3);
+
+    % Collect agent indices in the same way as performance
+    indices = 1:size(obj.agents, 1);
+    agentInds = squeeze(tensorprod(indices, ones(size(obj.objective.X))));
+    if size(agentInds, 1) ~= size(obj.agents, 1)
+        agentInds = reshape(agentInds, [size(obj.agents, 1), size(agentInds)]); % needed for cases with 1 agent where prior squeeze is too agressive
+    end
+    agentInds = num2cell(agentInds, 2:3);
+    agentInds = cellfun(@(x) squeeze(x), agentInds, 'UniformOutput', false);
+    agentInds{end + 1} = zeros(size(agentInds{end})); % index for no assignment
+    agentInds = cat(3, agentInds{:});
+
+    % Use highest performing agent's index to form partitions
+    [m, n, ~] = size(agentInds);
+    [jj, kk] = ndgrid(1:m, 1:n);
+    obj.partitioning = agentInds(sub2ind(size(agentInds), jj, kk, idx));
+end

@miSim/plot.m

@@ -0,0 +1,54 @@
+function obj = plot(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+
+    % Plot domain
+    [obj.domain, obj.f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
+
+    % Plot obstacles
+    for ii = 1:size(obj.obstacles, 1)
+        [obj.obstacles{ii}, obj.f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, obj.f);
+    end
+
+    % Plot objective gradient
+    obj.f = obj.domain.objective.plot(obj.objectivePlotIndices, obj.f);
+
+    % Plot agents and their collision/communications geometries
+    for ii = 1:size(obj.agents, 1)
+        [obj.agents{ii}, obj.f] = obj.agents{ii}.plot(obj.spatialPlotIndices, obj.f);
+    end
+
+    % Plot communication links
+    obj = obj.plotConnections();
+
+    % Plot abstract network graph
+    obj = obj.plotGraph();
+
+    % Plot domain partitioning
+    obj = obj.plotPartitions();
+
+    % Plot agent trails
+    obj = obj.plotTrails();
+
+    % Enforce plot limits
+    for ii = 1:size(obj.spatialPlotIndices, 2)
+        xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+        ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+        zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+    end
+
+    % Plot performance
+    obj = obj.plotPerformance();
+
+    % Plot h functions
+    obj = obj.plotH();
+end

@miSim/plotConnections.m

@@ -0,0 +1,42 @@
+function obj = plotConnections(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    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.constraintAdjacencyMatrix, 1)
+        for jj = 1:(ii - 1)
+            if obj.constraintAdjacencyMatrix(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(obj.spatialPlotIndices)
+        hold(obj.f.CurrentAxes, "on");
+        o = plot3(obj.f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+        hold(obj.f.CurrentAxes, "off");
+    else
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "on");
+        o = plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "off");
+    end
+
+    % Copy to other plots
+    if size(obj.spatialPlotIndices, 2) > 1
+        for ii = 2:size(obj.spatialPlotIndices, 2)
+            o = [o, copyobj(o(:, 1), obj.f.Children(1).Children(obj.spatialPlotIndices(ii)))];
+        end 
+    end
+
+    obj.connectionsPlot = o;
+end

@miSim/plotGraph.m

@@ -0,0 +1,28 @@
+function obj = plotGraph(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % Form graph from adjacency matrix
+    G = graph(obj.constraintAdjacencyMatrix, 'omitselfloops');
+
+    % Plot graph object
+    if isnan(obj.networkGraphIndex)
+        hold(obj.f.CurrentAxes, 'on');
+        o = plot(obj.f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+        hold(obj.f.CurrentAxes, 'off');
+    else
+        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'on');
+        o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
+        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'off');
+        if size(obj.networkGraphIndex, 2) > 1
+            for ii = 2:size(ind, 2)
+                o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
+            end
+        end
+    end
+    obj.graphPlot = o;
+end

@miSim/plotH.m

@@ -0,0 +1,61 @@
+function obj = plotH(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    obj.hf = figure;
+    tiledlayout(obj.hf, 4, 1, "TileSpacing", "tight", "Padding", "compact");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Collision Avoidance");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.caPlot = plot(obj.h(1:(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2), :)');
+    legendStrings = [];
+    for ii = 2:size(obj.agents, 1)
+        for jj = 1:(ii - 1)
+            legendStrings = [legendStrings; sprintf("A%d A%d", jj, ii)];
+        end
+    end
+    legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(2), "");
+    title(obj.hf.Children(1).Children(1), "Obstacles");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.obsPlot = plot(obj.h((1 + (size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)):(((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1)), :)');
+    legendStrings = [];
+    for ii = 1:size(obj.obstacles, 1)
+        for jj = 1:size(obj.agents, 1)
+            legendStrings = [legendStrings; sprintf("A%d O%d", jj, ii)];
+        end
+    end
+    legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Domain");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.domPlot = plot(obj.h((1 + (((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1))):size(obj.h, 1), 1:end)');
+    legend(obj.hf.Children(1).Children(1), ["X Min"; "X Max"; "Y Min"; "Y Max"; "Z Min"; "Z Max";], 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Communications");
+    % skipped this for now because it is very complicated
+
+end

@miSim/plotPartitions.m

@@ -0,0 +1,24 @@
+function obj = plotPartitions(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    if isnan(obj.partitionGraphIndex)
+        hold(obj.f.CurrentAxes, 'on');
+        o = imagesc(obj.f.CurrentAxes, obj.partitioning);
+        hold(obj.f.CurrentAxes, 'off');
+    else
+        hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
+        o = imagesc(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), obj.partitioning);
+        hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
+        if size(obj.partitionGraphIndex, 2) > 1
+            for ii = 2:size(ind, 2)
+                o = [o, copyobj(o(1), obj.f.Children(1).Children(obj.partitionGraphIndex(ii)))];
+            end
+        end
+    end
+    obj.partitionPlot = o;
+end

@miSim/plotPerformance.m

@@ -0,0 +1,45 @@
+function obj = plotPerformance(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+    
+    obj.fPerf = figure;
+
+    axes(obj.fPerf);
+    title(obj.fPerf.Children(1), "Sensor Performance");
+    xlabel(obj.fPerf.Children(1), 'Time (s)');
+    ylabel(obj.fPerf.Children(1), 'Sensor Performance');
+    grid(obj.fPerf.Children(1), 'on');
+
+    % Plot current cumulative performance
+    hold(obj.fPerf.Children(1), 'on');
+    o = plot(obj.fPerf.Children(1), obj.perf(end, :));
+    warning('off', 'MATLAB:gui:array:InvalidArrayShape'); % suppress this warning to avoid polluting output
+    o.XData = NaN(1, obj.maxIter); % correct time will be set at runtime
+    o.YData = [0, NaN(1, obj.maxIter - 1)];
+    hold(obj.fPerf.Children(1), 'off');
+
+    % Plot current agent performance
+    for ii = 1:(size(obj.perf, 1) - 1)
+        hold(obj.fPerf.Children(1), 'on');
+        o = [o; plot(obj.fPerf.Children(1), obj.perf(ii, :))];
+        o(end).XData = NaN(1, obj.maxIter); % correct time will be set at runtime
+        o(end).YData = [0, NaN(1, obj.maxIter - 1)];
+        hold(obj.fPerf.Children(1), 'off');
+    end
+
+    % Add legend
+    agentStrings = string(cellfun(@(x) x.label, obj.agents, 'UniformOutput', false));
+    agentStrings = ["Total"; agentStrings];
+    legend(obj.fPerf.Children(1), agentStrings, 'Location', 'northwest');
+
+    obj.performancePlot = o;
+end

@miSim/plotTrails.m

@@ -0,0 +1,26 @@
+function obj = plotTrails(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')}
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')}
+    end
+    
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+
+    % Plot full range of position history on each spatial plot axes
+    o = [];
+    for ii = 1:(size(obj.posHist, 1))
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'on');
+        o = [o; plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), obj.posHist(ii, 1:obj.maxIter, 1), obj.posHist(ii, 1:obj.maxIter, 2), obj.posHist(ii, 1:obj.maxIter, 3), 'Color', 'k', 'LineWidth', 1)];
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'off');
+    end
+
+    % Copy trails to other figures?
+    obj.trailPlot = o;
+
+    % Add legend?
+end

@miSim/run.m

@@ -0,0 +1,68 @@
+function [obj] = run(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % Start video writer
+    if obj.makeVideo
+        v = obj.setupVideoWriter();
+        v.open();
+    end
+    
+    for ii = 1:size(obj.times, 1)
+        % Display current sim time
+        obj.t = obj.times(ii);
+        obj.timestepIndex = ii;
+        fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
+
+        % Validate current simulation configuration
+        obj.validate();
+
+        % Check if it's time for new partitions
+        updatePartitions = false;
+        if ismember(obj.t, obj.partitioningTimes)
+            updatePartitions = true;
+            obj = obj.partition();
+        end
+
+        % Determine desired communications links
+        obj = obj.lesserNeighbor();
+
+        % Iterate over agents to simulate their unconstrained motion
+        for jj = 1:size(obj.agents, 1)
+            obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.t, jj);
+        end
+
+        % Adjust motion determined by unconstrained gradient ascent using
+        % CBF constraints solved by QP
+        obj = constrainMotion(obj);
+
+        % Finished simulation for this timestep, do accounting
+
+        % Update agent position history array
+        obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
+
+        % Update total performance
+        obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(end), obj.agents))];
+
+        % Update adjacency matrix
+        obj = obj.updateAdjacency();
+
+        % Update plots
+        obj = obj.updatePlots(updatePartitions);
+
+        % Write frame in to video
+        if obj.makeVideo
+            I = getframe(obj.f);
+            v.writeVideo(I);
+        end
+    end
+
+    if obj.makeVideo
+        % Close video file
+        v.close();
+    end
+end

@miSim/setupVideoWriter.m

@@ -1,6 +1,6 @@
-function v = setupVideoWriter(timestep)
+function v = setupVideoWriter(obj)
     arguments (Input)
-        timestep (1, 1) double;
+        obj (1, 1) {mustBeA(obj, 'miSim')};
     end
     arguments (Output)
         v (1, 1) {mustBeA(v, 'VideoWriter')};
@@ -9,9 +9,9 @@ function v = setupVideoWriter(timestep)
     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');
+        v = VideoWriter(fullfile('.', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
     end
     
-    v.FrameRate = 1/timestep;
+    v.FrameRate = 1 / obj.timestep;
     v.Quality = 90;
 end

@miSim/updateAdjacency.m

@@ -0,0 +1,35 @@
+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 = true(size(obj.agents, 1));
+
+    % Check lower triangle off-diagonal connections
+    for ii = 2:size(A, 1)
+        for jj = 1:(ii - 1)
+            % Check that agents are not out of range
+            if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])
+                A(ii, jj) = false; % comm range violation
+                continue;
+            end
+
+            % % Check that agents do not have their line of sight obstructed
+            % for kk = 1:size(obj.obstacles, 1)
+            %     if obj.obstacles{kk}.containsLine(obj.agents{jj}.pos, obj.agents{ii}.pos)
+            %         A(ii, jj) = false;
+            %     end
+            % end
+        end
+    end
+
+    obj.adjacency = A & A';
+
+    if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, 'all')
+        warning("Eliminated network connections that were necessary");
+    end
+end

@miSim/updatePlots.m

@@ -0,0 +1,74 @@
+function [obj] = updatePlots(obj, updatePartitions)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+        updatePartitions (1, 1) logical = false;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    % Fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+
+    % Update agent positions, collision/communication geometries
+    for ii = 1:size(obj.agents, 1)
+        obj.agents{ii}.updatePlots();
+    end
+
+    % The remaining updates might should all 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 = obj.plotConnections();
+
+    % Update network graph plot
+    delete(obj.graphPlot);
+    obj = obj.plotGraph();
+
+    % Update partitioning plot
+    if updatePartitions
+        delete(obj.partitionPlot);
+        obj = obj.plotPartitions();
+    end
+
+    % reset plot limits to fit domain
+    for ii = 1:size(obj.spatialPlotIndices, 2)
+        xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+        ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+        zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+    end
+
+    % Update agent trails
+    for ii = 1:size(obj.agents, 1)
+        obj.trailPlot(ii).XData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 1);
+        obj.trailPlot(ii).YData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 2);
+        obj.trailPlot(ii).ZData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 3);
+    end
+
+    drawnow;
+    
+    % Update performance plot
+    % Re-normalize performance plot
+    normalizingFactor = 1/max(obj.performance(end));
+    obj.performancePlot(1).YData(1:length(obj.performance)) = obj.performance * normalizingFactor;
+    obj.performancePlot(1).XData(obj.timestepIndex) = obj.t;
+    for ii = 2:(size(obj.agents, 1) + 1)
+        obj.performancePlot(ii).YData(1:length(obj.performance)) = obj.agents{ii - 1}.performance * normalizingFactor;
+        obj.performancePlot(ii).XData(obj.timestepIndex) = obj.t;
+    end
+
+    % Update h function plots
+    for ii = 1:size(obj.caPlot, 1)
+        obj.caPlot(ii).YData(obj.timestepIndex) = obj.h(ii, obj.timestepIndex);
+    end
+    for ii = 1:size(obj.obsPlot, 1)
+        obj.obsPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1), obj.timestepIndex);
+    end
+    for ii = 1:size(obj.domPlot, 1)
+        obj.domPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1) + size(obj.obsPlot, 1), obj.timestepIndex);
+    end
+end

@miSim/validate.m

@@ -0,0 +1,12 @@
+function validate(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+    end
+
+    if max(conncomp(graph(obj.adjacency))) ~= 1
+        warning("Network is not connected");
+    end
+
+end

@sensingObjective/initialize.m

@@ -0,0 +1,43 @@
+function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange)
+    arguments (Input)
+        obj (1,1) {mustBeA(obj, 'sensingObjective')};
+        objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
+        domain (1, 1) {mustBeGeometry};
+        discretizationStep (1, 1) double = 1;
+        protectedRange (1, 1) double = 1;
+    end
+    arguments (Output)
+        obj (1,1) {mustBeA(obj, 'sensingObjective')};
+    end
+
+    obj.discretizationStep = discretizationStep;
+
+    obj.groundAlt = domain.minCorner(3);
+    obj.protectedRange = protectedRange;
+
+    % Extract footprint limits
+    xMin = min(domain.footprint(:, 1));
+    xMax = max(domain.footprint(:, 1));
+    yMin = min(domain.footprint(:, 2));
+    yMax = max(domain.footprint(:, 2));
+
+    xGrid = unique([xMin:obj.discretizationStep:xMax, xMax]);
+    yGrid = unique([yMin:obj.discretizationStep:yMax, yMax]);
+    
+    % Store grid points for plotting later
+    [obj.X, obj.Y] = meshgrid(xGrid, yGrid);
+
+    % Evaluate function over grid points
+    obj.objectiveFunction = objectiveFunction;
+    obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X));
+    
+    % Normalize
+    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)
+
+    assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective")
+end

@sensingObjective/initializeRandomMvnpdf.m

@@ -0,0 +1,27 @@
+function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protectedRange)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sensingObjective')};
+        domain (1, 1) {mustBeGeometry};
+        discretizationStep (1, 1) double = 1;
+        protectedRange (1, 1) double = 1;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'sensingObjective')};
+    end
+
+    % Set random objective position
+    mu = domain.minCorner;
+    while domain.distance(mu) < protectedRange
+        mu = domain.random();
+    end
+    mu = mu(1:2);
+
+    % Set random distribution parameters
+    sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
+
+    % Set up random bivariate normal distribution function
+    objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu, sig);
+
+    % Regular initialization
+    obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange);
+end

@sensingObjective/plot.m

@@ -0,0 +1,35 @@
+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)
+        f (1,1) {mustBeA(f, 'matlab.ui.Figure')};
+    end
+
+    % Create axes if they don't already exist
+    f = firstPlotSetup(f);
+
+    % Plot gradient on the "floor" of the domain
+    if isnan(ind)
+        hold(f.CurrentAxes, "on");
+        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

@sensingObjective/sensingObjective.m

@@ -0,0 +1,20 @@
+classdef sensingObjective
+    % Sensing objective definition parent class
+    properties (SetAccess = private, GetAccess = public)
+        label = "";
+        groundAlt = 0;
+        groundPos = [0, 0];
+        discretizationStep = 1;
+        objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner
+        X = [];
+        Y = [];
+        values = [];
+        protectedRange = 1; % keep obstacles from crowding objective
+    end
+
+    methods (Access = public)
+        [obj] = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange);
+        [obj] = initializeRandomMvnpdf(obj, domain, protectedRange, discretizationStep, protectedRange);
+        [f  ] = plot(obj, ind, f);
+    end
+end

agent.m

@@ -1,167 +0,0 @@
-classdef agent
-    properties (SetAccess = private, GetAccess = public)
-        % Identifiers
-        index = NaN;
-        label = "";
-
-        % Sensor
-        sensorModel;
-        sensingLength = 0.05; % length parameter used by sensing function
-
-        % Guidance
-        guidanceModel;
-
-        % State
-        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, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'agent')};
-                pos (1, 3) double;
-                vel (1, 3) double;
-                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
-            arguments (Output)
-                obj (1, 1) {mustBeA(obj, 'agent')};
-            end
-
-            obj.pos = pos;
-            obj.vel = vel;
-            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 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
-
-            % Create axes if they don't already exist
-            f = firstPlotSetup(f);
-
-            % Plot points representing the agent position
-            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

geometries/@cone/cone.m

@@ -0,0 +1,22 @@
+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 (Access = public)
+        [obj   ] = initialize(obj, center, radius, height, tag, label);
+        [obj, f] = plot(obj, ind, f);
+    end
+end

geometries/@cone/initialize.m

@@ -0,0 +1,19 @@
+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

geometries/@cone/plot.m

@@ -0,0 +1,43 @@
+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

geometries/@rectangularPrism/closestToPoint.m

@@ -0,0 +1,19 @@
+function cPos = closestToPoint(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        cPos (:, 3) double;
+    end
+    cPos = NaN(1, 3);
+    for ii = 1:3
+        if pos(ii) < obj.minCorner(ii)
+            cPos(ii) = obj.minCorner(ii);
+        elseif pos(ii) > obj.maxCorner(ii)
+            cPos(ii) = obj.maxCorner(ii);
+        else
+            cPos(ii) = pos(ii);
+        end
+    end
+end

geometries/@rectangularPrism/contains.m

@@ -0,0 +1,10 @@
+function c = contains(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        c (:, 1) logical
+    end
+    c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2);
+end

geometries/@rectangularPrism/containsLine.m

@@ -0,0 +1,46 @@
+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;
+
+    % endpoint contained (trivial case)
+    if obj.contains(pos1) || obj.contains(pos2)
+        c = true;
+        return;
+    end
+
+    % parameterize the line segment to check for an intersection
+    tMin = 0;
+    tMax = 1;
+    for ii = 1:3
+        % line is parallel to geometry
+        if abs(d(ii)) < 1e-12
+            if pos1(ii) < obj.minCorner(ii) || pos1(ii) > obj.maxCorner(ii)
+                c = false;
+                return;
+            end
+        else
+            t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii);
+            t2 = (obj.maxCorner(ii) - pos1(ii)) / d(ii);
+
+            tLow  = min(t1, t2);
+            tHigh = max(t1, t2);
+
+            tMin = max(tMin, tLow);
+            tMax = min(tMax, tHigh);
+
+            if tMin > tMax
+                c = false;
+                return;
+            end
+        end
+    end
+    c = true;
+end

geometries/@rectangularPrism/distance.m

@@ -0,0 +1,32 @@
+function d = distance(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        d (:, 1) double;
+    end
+    if obj.contains(pos)
+        % Queried point is inside geometry
+        % find minimum distance to any face
+        d = min([pos(1) - obj.minCorner(1), ...
+                 pos(2) - obj.minCorner(2), ...
+                 pos(3) - obj.minCorner(3), ...
+                 obj.maxCorner(1) - pos(1), ...
+                 obj.maxCorner(2) - pos(2), ...
+                 obj.maxCorner(3) - pos(3)]);
+    else
+        % Queried point is outside geometry
+        cPos = NaN(1, 3);
+        for ii = 1:3
+            if pos(ii) < obj.minCorner(ii)
+                cPos(ii) = obj.minCorner(ii);
+            elseif pos(ii) > obj.maxCorner(ii)
+                cPos(ii) = obj.maxCorner(ii);
+            else
+                cPos(ii) = pos(ii);
+            end
+        end
+        d = norm(cPos - pos);
+    end
+end

geometries/@rectangularPrism/distanceGradient.m

@@ -0,0 +1,42 @@
+function g = distanceGradient(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        g (:, 3) double
+    end
+    
+    % find nearest point on surface to query position
+    q = min(max(pos, obj.minCorner), obj.maxCorner);
+
+    % Find distance and direction between pos and q
+    v = pos - q;
+    vNorm = norm(v);
+
+    % position is outside geometry
+    if vNorm > 0
+        % gradient is normalized vector from q to p
+        g = v / vNorm;
+        return;
+    end
+
+    % position is on or in geometry
+    % find distances to each face in each dimension
+    distances = [pos(1) - obj.minCorner(1), obj.maxCorner(1) - pos(1), pos(2) - obj.minCorner(2), obj.maxCorner(2) - pos(2), pos(3) - obj.minCorner(3), obj.maxCorner(3) - pos(3)];
+    [~, idx] = min(distances);
+
+    % I think there needs to be additional handling here for the
+    % edge/corner cases, where there are ways to balance or resolve ties
+    % when two faces are equidistant to the query position
+    assert(sum(idx) == idx, "Implement edge case handling");
+
+    % select gradient that brings us quickest to the nearest face
+    g = [ 1,  0,  0; ...
+         -1,  0,  0; ...
+          0,  1,  0; ...
+          0, -1,  0; ...
+          0,  0,  1; ...
+          0,  0, -1;];
+    g = g(idx, :);
+end

geometries/@rectangularPrism/initialize.m

@@ -0,0 +1,60 @@
+function obj = initialize(obj, bounds, tag, label, objectiveFunction, discretizationStep)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        bounds (2, 3) double;
+        tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+        label (1, 1) string = "";
+        objectiveFunction (1, 1) function_handle = @(x, y) 1;
+        discretizationStep (1, 1) double = 1;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+    end
+
+    obj.tag = tag;
+    obj.label = label;
+
+    % Define geometry bounds by LL corner and UR corner
+    obj.minCorner = bounds(1, 1:3);
+    obj.maxCorner = bounds(2, 1:3);
+
+    % Compute L, W, H
+    obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
+
+    % Compute center
+    obj.center = obj.minCorner + obj.dimensions ./ 2;
+
+    % Compute a (fake) radius
+    % fully contains the rectangular prism from the center
+    obj.radius = (1/2) * sqrt(sum(obj.dimensions.^2));
+
+    % Compute vertices
+    obj.vertices = [obj.minCorner;
+                    obj.maxCorner(1), obj.minCorner(2:3);
+                    obj.maxCorner(1:2), obj.minCorner(3);
+                    obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
+                    obj.minCorner(1:2), obj.maxCorner(3);
+                    obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
+                    obj.minCorner(1), obj.maxCorner(2:3)
+                    obj.maxCorner;];
+
+    % Compute footprint
+    obj.footprint = [obj.minCorner(1:2); ...
+                     [obj.minCorner(1), obj.maxCorner(2)]; ...
+                     [obj.maxCorner(1), obj.minCorner(2)]; ...
+                     obj.maxCorner(1:2)];
+
+    % Instantiate sensingObjective only for DOMAIN-type regions
+    if tag == REGION_TYPE.DOMAIN
+        obj.objective = sensingObjective;
+    end
+
+    % Initialize CBF
+    % first part evaluates to +/-1 if the point is outside/inside the collision geometry
+    % Second part determines the distance from the point to the boundary of the collision geometry
+    obj.barrierFunction = @(x) (1 - 2 * obj.collisionGeometry.contains(x)) * obj.collisionGeometry.distance(x); % x is 1x3
+    % gradient of barrier function 
+    obj.dBarrierFunction = @(x) obj.collisionGeometry.distanceGradient(x); % x is 1x3
+    % as long as the collisionGeometry object is updated during runtime,
+    % these functions never have to be updated again
+end

geometries/@rectangularPrism/initializeRandom.m

@@ -0,0 +1,45 @@
+function [obj] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain, minAlt)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+        label (1, 1) string = "";
+        minDimension (1, 1) double = 10;
+        maxDimension (1, 1) double = 20;
+        domain (1, 1) {mustBeGeometry} = rectangularPrism;
+        minAlt (1, 1) double = 0;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+    end
+    
+    % Produce random bounds based on region type
+    if tag == REGION_TYPE.DOMAIN
+        % Domain
+        L = ceil(minDimension + rand * (maxDimension - minDimension));
+        bounds = [zeros(1, 3); L * ones(1, 3)];
+    else
+        % Obstacle
+
+        % Produce a corners that are contained in the domain
+        ii = 0;
+        candidateMaxCorner = domain.maxCorner + ones(1, 3);
+        candidateMinCorner = domain.minCorner - ones(1, 3);
+        % Continue until the domain contains the obstacle without crowding the objective
+        while ~domain.contains(candidateMaxCorner) || all(domain.objective.groundPos + domain.objective.protectedRange >= candidateMinCorner(1:2), 2) && all(domain.objective.groundPos - domain.objective.protectedRange <= candidateMaxCorner(1:2), 2)
+            if ii == 0 || ii > 10
+                candidateMinCorner = domain.random();
+                candidateMinCorner(3) = minAlt; % bind to floor (plus minimum altitude constraint)
+                ii = 1;
+            end
+
+            candidateMaxCorner = candidateMinCorner + minDimension + rand(1, 3) * (maxDimension - minDimension);
+
+            ii = ii + 1;
+        end
+        
+        bounds = [candidateMinCorner; candidateMaxCorner;];
+    end
+
+    % Regular initialization
+    obj = obj.initialize(bounds, tag, label);
+end

geometries/@rectangularPrism/plotWireframe.m

@@ -0,0 +1,37 @@
+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);
+
+    % Create plotting inputs from vertices and edges
+    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 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

geometries/@rectangularPrism/random.m

@@ -0,0 +1,9 @@
+function r = random(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+    end
+    arguments (Output)
+        r (1, 3) double
+    end
+    r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
+end

geometries/@rectangularPrism/rectangularPrism.m

@@ -0,0 +1,45 @@
+classdef rectangularPrism
+    % Rectangular prism geometry
+    properties (SetAccess = private, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+
+        % Spatial
+        minCorner = NaN(1, 3);
+        maxCorner = NaN(1, 3);
+        dimensions = NaN(1, 3);
+        center = NaN;
+        footprint = NaN(4, 2);
+        radius = NaN; % fake radius
+
+        % 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;
+
+        % collision
+        barrierFunction;
+        dBarrierFunction;
+    end
+    properties (SetAccess = public, GetAccess = public)
+        label = "";
+        % Sensing objective (for DOMAIN region type only)
+        objective;
+    end
+
+    methods (Access = public)
+        [obj   ] = initialize(obj, bounds, tag, label, objectiveFunction, discretizationStep);
+        [obj   ] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain);
+        [r     ] = random(obj);
+        [c     ] = contains(obj, pos);
+        [cPos  ] = closestToPoint(obj, pos);
+        [d     ] = distance(obj, pos);
+        [g     ] = distanceGradient(obj, pos);
+        [c     ] = containsLine(obj, pos1, pos2);
+        [obj, f] = plotWireframe(obj, ind, f);
+    end
+end

geometries/@spherical/contains.m

@@ -0,0 +1,10 @@
+function c = contains(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        c (:, 1) logical
+    end
+    c = norm(obj.center - pos) <= obj.radius;
+end

geometries/@spherical/containsLine.m

@@ -0,0 +1,28 @@
+function c = containsLine(obj, pos1, pos2)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+        pos1 (1, 3) double;
+        pos2 (1, 3) double;
+    end
+    arguments (Output)
+        c (1, 1) logical
+    end
+    
+    d = pos2 - pos1;
+    f = pos1 - obj.center;
+
+    a = dot(d, d);
+    b = 2 * dot(f, d);
+    c = dot(f, f) - obj.radius^2;
+
+    disc = b^2 - 4*a*c;
+
+    if disc < 0
+        c = false;
+        return;
+    end
+
+    t = [(-b - sqrt(disc)) / (2 * a), (-b + sqrt(disc)) / (2 * a)];
+
+    c = (t(1) >= 0 && t(1) <= 1) || (t(2) >= 0 && t(2) <= 1);
+end

geometries/@spherical/initialize.m

@@ -0,0 +1,42 @@
+function obj = initialize(obj, center, radius, tag, label)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+        center (1, 3) double;
+        radius  (1, 1) double;
+        tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+        label (1, 1) string = "";
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+    end
+
+    obj.tag = tag;
+    obj.label = label;
+
+    % Define geometry
+    obj.center = center;
+    obj.radius = radius;
+    obj.diameter = 2 * obj.radius;
+
+    % Initialize CBF
+    obj.barrierFunction = @(x) NaN;
+    % gradient of barrier function 
+    obj.dBarrierFunction = @(x) NaN;
+
+    % fake vertices in a cross pattern
+    obj.vertices = [obj.center + [obj.radius, 0, 0]; ...
+                    obj.center - [obj.radius, 0, 0]; ...
+                    obj.center + [0, obj.radius, 0]; ...
+                    obj.center - [0, obj.radius, 0]; ...
+                    obj.center + [0, 0, obj.radius]; ...
+                    obj.center - [0, 0, obj.radius]];
+    % fake edges in two perpendicular rings
+    obj.edges = [1, 3; ...
+                 3, 2; ...
+                 2, 4; ...
+                 4, 1; ...
+                 1, 5; ...
+                 5, 2; ...
+                 2, 6; ...
+                 6, 1];
+end

geometries/@spherical/plotWireframe.m

@@ -0,0 +1,43 @@
+function [obj, f] = plotWireframe(obj, ind, f)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+        ind (1, :) double = NaN;
+        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+    end
+
+    % Create axes if they don't already exist
+    f = firstPlotSetup(f);
+
+    % Create plotting inputs
+    [X, Y, Z] = sphere(8);
+    % Scale
+    X = X * obj.radius;
+    Y = Y * obj.radius;
+    Z = Z * obj.radius;
+    % Shift
+    X = X + obj.center(1);
+    Y = Y + obj.center(2);
+    Z = Z + obj.center(3);
+
+    % 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

geometries/@spherical/random.m

@@ -0,0 +1,15 @@
+function r = random(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'spherical')};
+    end
+    arguments (Output)
+        r (1, 3) double
+    end
+    y = (rand - 0.5) * 2; % uniform draw on [-1, 1]
+    R = sqrt(1 - y^2);
+    lon = (rand - 0.5) * 2 * pi; % uniform draw on [-pi, pi]
+    s = [R * sin(lon), y, R * cos(lon)]; % random point on surface
+    r = s * rand^(1/3); % scaled to random normalized radius [0, 1]
+
+    r = obj.center + obj.radius * r;
+end

geometries/@spherical/spherical.m

@@ -0,0 +1,37 @@
+classdef spherical
+    % Rectangular prism geometry
+    properties (SetAccess = private, GetAccess = public)
+        % Spatial
+        center = NaN;
+        radius = NaN;
+        diameter = NaN;
+
+        vertices; % fake vertices
+        edges; % fake edges
+
+        % Plotting
+        lines;
+
+        % collision
+        barrierFunction;
+        dBarrierFunction;
+    end
+    properties (SetAccess = public, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+        label = "";
+        
+        % Sensing objective (for DOMAIN region type only)
+        objective;
+    end
+
+    methods (Access = public)
+        [obj   ] = initialize(obj, center, radius, tag, label);
+        [r     ] = random(obj);
+        [c     ] = contains(obj, pos);
+        [d     ] = distance(obj, pos);
+        [g     ] = distanceGradient(obj, pos);
+        [c     ] = containsLine(obj, pos1, pos2);
+        [obj, f] = plotWireframe(obj, ind, f);
+    end
+end

geometries/REGION_TYPE.m

@@ -9,6 +9,7 @@ classdef REGION_TYPE
         OBSTACLE (2, [255, 127, 127]); % obstacle region
         COLLISION (3, [255, 255, 128]); % collision avoidance region
         FOV (4, [255, 165, 0]); % field of view region
+        COMMS (5, [0, 255, 0]); % comunications region
     end
     methods
         function obj = REGION_TYPE(id, color)

geometries/cone.m

@@ -1,82 +0,0 @@
-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

@@ -1,204 +0,0 @@
-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;
-        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)
-        function obj = initialize(obj, bounds, tag, label)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-                bounds (2, 3) double;
-                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
-                label (1, 1) string = "";
-            end
-            arguments (Output)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-            end
-
-            obj.tag = tag;
-            obj.label = label;
-
-            %% Define geometry bounds by LL corner and UR corner
-            obj.minCorner = bounds(1, 1:3);
-            obj.maxCorner = bounds(2, 1:3);
-
-            % Compute L, W, H
-            obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
-
-            % Compute center
-            obj.center = obj.minCorner + obj.dimensions ./ 2;
-
-            % Compute vertices
-            obj.vertices = [obj.minCorner;
-                            obj.maxCorner(1), obj.minCorner(2:3);
-                            obj.maxCorner(1:2), obj.minCorner(3);
-                            obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
-                            obj.minCorner(1:2), obj.maxCorner(3);
-                            obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
-                            obj.minCorner(1), obj.maxCorner(2:3)
-                            obj.maxCorner;];
-
-            % Compute footprint
-            obj.footprint = [obj.minCorner(1:2); ...
-                             [obj.minCorner(1), obj.maxCorner(2)]; ...
-                             [obj.maxCorner(1), obj.minCorner(2)]; ...
-                             obj.maxCorner(1:2)];
-        end
-        function r = random(obj)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-            end
-            arguments (Output)
-                r (1, 3) double
-            end
-            r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
-        end
-        function d = distance(obj, pos)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-                pos (:, 3) double;
-            end
-            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)
-                    cPos(ii) = obj.minCorner(ii);
-                elseif pos(ii) > obj.maxCorner(ii)
-                    cPos(ii) = obj.maxCorner(ii);
-                else
-                    cPos(ii) = pos(ii);
-                end
-            end
-            d = norm(cPos - pos);
-        end
-        function d = interiorDistance(obj, pos)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-                pos (:, 3) double;
-            end
-            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), ...
-                     pos(3) - obj.minCorner(3), ...
-                     obj.maxCorner(1) - pos(1), ...
-                     obj.maxCorner(2) - pos(2), ...
-                     obj.maxCorner(3) - pos(3)]);
-        end
-        function c = contains(obj, pos)
-            arguments (Input)
-                obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
-                pos (:, 3) double;
-            end
-            arguments (Output)
-                c (:, 1) logical
-            end
-            c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2);
-        end
-        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);
-
-            % Create plotting inputs from vertices and edges
-            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 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

@@ -1,26 +0,0 @@
-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

@@ -1,379 +0,0 @@
-classdef miSim
-    % multiagent interconnection simulation
-
-    % 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, 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;
-                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
-
-            % 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{:});
-            
-            % Get highest performance value at each point
-            [~, idx] = max(agentPerformances, [], 3);
-
-            % 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{:});
-
-            % 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
-
-    methods (Access = private)
-        function validateInitialization(obj)
-            % Assert obstacles do not intersect with the domain
-
-            % Assert obstacles do not intersect with each other
-
-            % Assert the objective has only one maxima within the domain
-
-            % Assert the objective's sole maximum is not inaccessible due
-            % to the placement of an obstacle
-
-        end
-        function validateLoop(obj)
-            % Assert that agents are safely inside the domain
-
-            % Assert that agents are not in proximity to obstacles
-
-            % Assert that agents are not in proximity to each other
-
-            % Assert that agents form a connected graph
-
-
-        end
-    end
-end

resources/project/9ucwbDs2BkA9ZqIHQI_XVIGSH5A/r541J80LBY7p-VdF-2cmu2pJyd4p.xml

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

resources/project/9ucwbDs2BkA9ZqIHQI_XVIGSH5A/svhNcplUM7n23Qjwql1uZ5L6c6sp.xml

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

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

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

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

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="420d04e4-3880-4a45-8609-11cb30d87302" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/CCiVFlEZGOWF8RpyKjlFUC_OrW4d.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/CCiVFlEZGOWF8RpyKjlFUC_OrW4p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1bb12f2e-385b-41a4-83e8-f9a9326d95ee" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/QAWdSKdcuP9OGm_S2NybPkCBTOYd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/QAWdSKdcuP9OGm_S2NybPkCBTOYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="89c37511-fb1f-420e-919a-c5b38c02b501" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/QCjAM-pfjkxuIc0-mouM97I9zHEd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/QCjAM-pfjkxuIc0-mouM97I9zHEp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="30f974f9-50a8-405c-9a83-e7fd84333f0e" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4d.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/XCp_6IVryeT94420M1370QjM5u4p.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1d8d2b42-2863-4985-9cf2-980917971eba" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/bC9JguT7xdg6hTVY9GqmttWOU6Ud.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/bC9JguT7xdg6hTVY9GqmttWOU6Up.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="5f96e524-3aac-4fa1-95df-67fd6ce02ff3" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/jjRWXxv1fmTGw_ntc54vNxAyLDMp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="b7c7eec5-a318-4c17-adb2-b13a21bf0609" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/ohKqyO-2hbPx9f-0yqpBSUUQdsgd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/ohKqyO-2hbPx9f-0yqpBSUUQdsgp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="d143c27d-6824-4569-9093-8150b60976cb" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/s5udZfVFP9-PGBZPOy6PEk_nJDEd.xml

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

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/s5udZfVFP9-PGBZPOy6PEk_nJDEp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="2e3f60de-3b82-4ad5-af81-57781353dcbf" type="Reference"/>

resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/AmJAKvt15XQGz6JdpTsYHCBwsj0d.xml

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

resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/AmJAKvt15XQGz6JdpTsYHCBwsj0p.xml

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

resources/project/HVl1IMKCtbARK0HKB9fPxObVDd8/OJQQt9oLZ-3u4fU3OVlfDGdcdxcp.xml

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

resources/project/HVl1IMKCtbARK0HKB9fPxObVDd8/QXWY7O9zl20hsQdVz8SSSmnWtfcp.xml

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

resources/project/HVl1IMKCtbARK0HKB9fPxObVDd8/Zm6-Pu5TuNDu7Nb1xPKdbRS1mBIp.xml

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