function validate(obj)
    arguments (Input)
        obj (1, 1) {mustBeA(obj, "miSim")};
    end
    arguments (Output)
    end

    %% Mode Validators
    if obj.useRoutingTopology && ~obj.useSinrComms
        error("Routing topology requires SINR comms mode (useSinrComms)");
    end

    if obj.useRoutingTopology && obj.useFixedTopology
        error("useRoutingTopology and useFixedTopology are mutually exclusive topology selectors");
    end

    %% Communications Network Validators
    if max(conncomp(graph(obj.adjacency))) ~= 1
        error("Network is not connected");
    end

    % In routing (CALSN) mode the MAINTAINED topology itself must form a
    % single connected component (basin extension + stitch guard invariant)
    if obj.useRoutingTopology && max(conncomp(graph(obj.constraintAdjacencyMatrix))) ~= 1
        error("Maintained routing topology (A_control) is not connected");
    end

    if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all")
        error("Eliminated network connections that were necessary");
    end

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