Swarm-Sim: A 2D & 3D Simulation Core for Swarm Agents

BotNet: A Simulator for Studying the Effects of Accurate Communication Models on Multi-agent and Swarm Control

“…Accurately simulating all aspects of a robotic swarm, including the network, robots, and environment, is a challenging task. Many tools for multi-agent simulation specialize at one function -such as Gazebo [34] or AirSim [35] for accurate robot dynamics, SwarmSim [36], SwarmLab [37], or Scrimmage [38] for swarm control, and the OpenWSN emulator [39] or the 6TiSCH Simulator [36] for realistic communications models. There has been relatively little development of simulation tools at the intersection of robotic control and accurate network modelling.…”

“…ROS-NetSim has promise for improving sim-to-real transfer because many real systems are deployed on ROS [44], but is not designed to handle high agent counts nor standards compliant communication models, which is Lopsided network configurations can make a swarm sensitive to dropping members from the network during complicated multi-agent tasks. For more details on the robotic simulation, see [36], and for details on simulating 6TiSCH networks, see [13].…”

“…The simulator, visualized in Fig. 1, uses the environment and agent abstractions from SwarmSim [36] and simultaneously integrates a IEEE802.15.4 6TiSCH simulator [13]. In building the simulation framework, we define an abstract class through which 6TiSCH can interface with a multi-agent robotic simulator using remote procedure calling (RPC).…”

“…Building on SwarmSim: The dynamics simulation for BotNet extends SwarmSim's minimal infrastructure [36].…”

“…Controllers: We expand the original SwarmSim architecture of a controller class called Solution [36]. Agents can be controlled using both the global environmental information and via their internal belief states, for example of who their nearest neighbors are based on networking data.…”