CODECHECK certificate 2025-019

Repository for CODECHECK certificate 2025-019.

• Publication: Fuzzy-Logic-based model predictive control: A paradigm integrating optimal and common-sense decision making
• Repository: https://doi.org/10.4121/319168f0-bc62-4051-84c2-f32718c05386.v1)

Preparation steps

• Install Matlab 2023b in your machine
• Download the main code repository here, e.g. by running git clone command shared at the bottom of the webpage
• Download separate repository with raw simulation data, unzip recordings.zip and move unzipped recordings/ folder to the main code repository's main folder, e.g., mv recordings 1284fd2b-663c-4c0d-9af7-7dc1ca390945/
• Download code to reproduce Figure 6 that is separately stored in the CODECHECK Repository, e.g. by cloning CODECHECK Repository and copying the folder containing these functions Figure6 into the main folder of the downloaded/cloned version of main code repository.

Reproducing Results

Before starting reproducing the figures, open Matlab 2023b and make sure the main code repository's main folder (./1284fd2b-663c-4c0d-9af7-7dc1ca390945/) is displayed in Matlab's folder left panel.

Figure 3

Run the following commands in Matlab's terminal:

   addpath(genpath('.'))
   load('recordings/1_1f/env1.mat')
   plot_all_maps_environment(env_no_figures,0)

Three figures are created, of which 'Figure 3' is the map of the environment that corresponds to Figure 3 in the manuscript. Note that an earlier version of the software created the figure in the manuscript, which leads to the following differences:

• The Y-axis of the map is flipped (vertically)
• The planned paths of drones are plotted.
• The map is generated for T=1 instead of T=0 so the positions of drones are slightly different.

For a better visual check comparing the generated and manuscript's figures, the codechecker used the "Rotation 3D" option (under the header 'Tools') in the generated figure in order to flip it vertically to the same orientation as the published figure.

Figure 4

Figure 4 is a collection of 4 subfigures (4A-D) that are reproduced separately.

To reproduce Subfigure 4A:

Run the following commands in Matlab's terminal:

   addpath(genpath('.'))
   x=0:0.001:1;
   for i=1:1001
   y(i)=passibility_membership_function(x(i));
   end
   plot(x,y)

To reproduce Subfigure 4B:

Run the following commands in Matlab's terminal:

   addpath(genpath('.'))
   x=0:0.001:1;
   for i=1:1001
   y(i)=reward_humans_membership_function(x(i));
   end
   plot(x,y)

To reproduce Subfigure 4C:

Run the following commands in Matlab's terminal:

   addpath(genpath('.'))
   x=0:0.001:1;
   for i=1:1001
   y(i)=reward_exploration_membership_function(x(i));
   end
   plot(x,y)

To reproduce Subfigure 4D:

Run the following commands in Matlab's terminal:

   addpath(genpath('.'))
   val=1;
   fis=readfis('certanity_unvisited.fis');
   for i=2:150
   val(i)=evalfis(fis,val(i-1));
   end
   plot(1-val)

Figure 5

Figure 5 is a collection of 2 subfigures (Left and Right) that are reproduced separately.

To reproduce Subfigures 5 Left and Right we are going to use Matlab's Fuzzy Logic Designer tool.

To reproduce Subfigure 5 Left:

• Run fuzzyLogicDesigner in the terminal. Two windows should appear in your screen: one named 'Fuzzy Logic Designer: Untitled' and 'Fuzzy Logic Designer: Getting started'.
• In 'Fuzzy Logic Designer: Getting started', do a Browse action (in the'Open' to left section) to select the file .\fuzzy\FIS\certanity.fis. The file is uploaded into the 'Fuzzy Logic Designer: Untitled' window, whose name changes to 'Fuzzy Logic Designer: certanity'

• In 'Fuzzy Logic Designer: certanity', click on 'Export' (top panel) and then 'Export Fuzzy Inference System to Workspace'.

• A window appears requesting to select options to be exported. Select 'certanity' and click 'Export'.

• In the Matlab terminal, run the following commands:

   [X,Y,Z]=gensurf(certanity);
   surf(1-X,(Y+1)/2,1-Z)

A figure is generated that corresponds to Subfigure 5 Left in the manuscript. Please use the "Rotation 3D" option under the header 'Tools' of the generated figure to better visually check the match between the reproduced and published figures.

To reproduce Subfigure 5 Right:

• Run fuzzyLogicDesigner in the terminal. Two windows should appear in your screen: one named 'Fuzzy Logic Designer: Untitled' and 'Fuzzy Logic Designer: Getting started'.
• In 'Fuzzy Logic Designer: Getting started', do a Browse action (in the'Open' to left section) to select the file .\fuzzy\FIS\measurment_information.fis. The file is loaded into the 'Fuzzy Logic Designer: Untitled' window, whose name changes to 'Fuzzy Logic Designer: measurment_information'

• In 'Fuzzy Logic Designer: measurment_information', click on 'Export' (top panel) and then 'Export Fuzzy Inference System to Workspace'.

• A window appears requesting to select options to be exported. Select 'measurment_information' and click 'Export'.

• In the Matlab terminal, run the following commands:

   [X,Y,Z]=gensurf(measurment_information);
   surf(X,Y,(Z+1)/2)

A figure is generated that corresponds to Subfigure 5 Right in the manuscript. Please use the "Rotation 3D" option under the header 'Tools' of the generated figure to better visually check the matchn between the reproduced and published figures.

Figure 6

To reproduce Figure 6 you need access to additional Matlab code that is at the date of this certificate's publication not available in the main code repository, but that can be found in this CODECHECK repository (https://github.com/joaoxg/certificate-2025-XXX/tree/main/COPY_TO_MAINREPO/Figure6). The author shared the code with the codechecker during the CODECHECK process.

To reproduce this figure, first clone/download the CODECHECK repository and copy the folder containing the code to main code repository's main folder, e.g.:

   git clone [email protected]:joaoxg/certificate-2025-019.git
   cp -r ./certificate-2025-XXX/COPY_TO_MAINREPO/Figure6 ./1284fd2b-663c-4c0d-9af7-7dc1ca390945/

Then, in Matlab, make sure the repo main folder (./1284fd2b-663c-4c0d-9af7-7dc1ca390945) is displayed in Matlab's folder left panel and type in the terminal:

   addpath(genpath('.'))
   main2

Figure 7

Run the following commands in the Matlab's terminal:

   addpath(genpath('.'))
   load('recordings/large/4_2f/env1.mat')
   plot_all_maps_environment(env_no_figures,0)

Three figures are created, of which 'Figure 3' is the map of the environment that corresponds to Figure 7 in the manuscript. Note that an earlier version of the software created the figure in the manuscript, which leads to the following differences:

• The Y-axis of the map is flipped (vertically)
• The planned paths of drones are plotted.
• The map is generated for T=1 instead of T=0 so the positions of drones are slightly different.

For a better visual check comparing the generated and manuscript's figures, the codechecker used the "Rotation 3D" option (under the header 'Tools') in the generated figure in order to flip it vertically to the same orientation as the published figure.

Figure 8

Figure 8 is a collection of 4 subfigures that are reproduced separately.

To reproduce Subfigure 8 Top Left:

Run the following commands in the Matlab's terminal:

   addpath(genpath('.'))
   load('recordings\large\1_2f\env2861.mat')
   plot_all_maps_environment(env_no_figures,0)

To reproduce Subfigure 8 Top Right:

   addpath(genpath('.'))
   load('recordings\large\4_2f\env2221.mat')
   plot_all_maps_environment(env_no_figures,0)

To reproduce Subfigure 8 Bottom Left:

   addpath(genpath('.'))
   load('recordings/large/1_4f/env2011.mat')
   plot_all_maps_environment(env_no_figures,0)

To reproduce Subfigure 8 Bottom Right:

   addpath(genpath('.'))
   load('recordings\large\4_4f\env2661.mat')
   plot_all_maps_environment(env_no_figures,0)

Each set of commands leads to three figures, of which 'Figure 2' is the map of the environment that corresponds to each of the four subfigures 8 in the manuscript. Note that an earlier version of the software created the subfigures in the manuscript, which leads to the following difference: the Y-axis of the map is flipped (vertically).

For a better visual check comparing the generated and manuscript's subfigures, the codechecker used the "Rotation 3D" option (under the header 'Tools') in the generated subfigure in order to flip it vertically to the same orientation as the published subfigure.