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

Abstract

(Robot) swarm networks are consisting of magnitudes of individual agents that are capable to move in a world and interact with each other or with passive items. Through local, individual algorithms applied in the agents desired properties of the swarm can emerge. In this paper, we present Swarm-Sim, a round-based simulator that supports the evaluation of such large scaled swarms in a 2D and 3D world. Agents can move in the simulated world, perceive their surroundings, carry other agents and items, as well as communicate with the position they stand on through pheromones or markings as well as with other agents and items in this world. Through this, many swarm-related use cases are supported. Implementing swarm algorithms is easy as the simulator is completely written in python and its code is open source. This allows also to simulate large swarms due to the good performance of the simulator. Thorough analysis of the swarm behavior is supported through plots and visualizations.