I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot system. For that, I need to simulate the sonar sensor signals. The question is how to simulate them in Matlab? I found sensorsig module in Phased Array System Toolbox and the link to use specialized ROS messages. Maybe, do you know some other solutions? The requirements to sensors are a) to know the frontier points b) to detect obstacles. The noise can be ignored.