A fully open architecture implementation of modern multi-agent coordination techniques. All agents make individual decisions based on local information only. There is no global plan.

This is an open project I use to explore new ideas, validate theoretical results, and produce data for my academic research.

Detailed description and code is available on GitHub.

Examples

Below are a few example simulations:

lattice formation with obstacles
dynamic lemniscatic trajectories

In the literature

This project was used to validate theoretical results in the following publications:

Decentralized generation of lemniscate trajectories using local information

Flocks, Mobs, and Figure Eights: Swarming as a Lemniscatic Arch published in IEEE Transactions on Network Science and Engineering, Vol 10 (2), Mar 2023

Generalization of the above method using periodic geometric embeddings

Emergent homeomorphic curves in swarms published in Automatica, Vol 176, Jun 2025