Overview

Core Swarm (COSM) is a middleware-esque library providing:

• A Platform Abstraction Layer (PAL): A common API to different platforms (ARgoS, ROS, etc) which client applications can write to.

• A Hardware Abstraction Layer (HAL): A common API to different agent/robot types which client applications to write to.

• A collection of reusable algorithms and scaffolding to maximize reuse across multi-agent system projects and reduce development time. High level summaries of COSM’s main modules providing reusable (but not necessarily generic functionality in MAS projects) are below; for full details see the API.

  • Artificial potential fields for navigation and flocking: cosm::apf2D.

  • Platform Abstraction Layer (PAL): cosm::pal.

  • Hardware Abstraction Layer (HAL): cosm::hal.

  • Task allocation. Various methods from the swarm robotics literature, most of which do not require communication.

  • Flocking. Also metrics and collectors. cosm::flocking and cosm::spatial::strategy::flocking.

  • Common agent subsystems: cosm::subsystem

    • Sensing and Actuation (SAA)

    • Perception

  • Foraging: block distribution, block motion, injection of perfect information about blocks and caches. Metrics and collectors. cosm::foraging.

  • General kinematics definitions for interfacing with ROS and other platforms: cosm::kin.

  • Convergence measurements of different types; metrics and collectors. cosm::convergence.

  • Injection of environmental and population dynamics; metrics and collectors. cosm::tv.

  • Simple management of arena state via grid: cosm::arena.

Currently Supported Platforms

Currently Supported Robots

Turtlebot3 (ROS)	marXbot (ARGoS)	IRIDIA Drone (ARGoS)