Control and Communications Law SIMulator (cclsim)

This web page holds information for our simulation engine for control and communications laws (a formalism for studying robot swarms). The simulator design is based on the formalism for such laws outlined in this paper and (to some degree) in this paper.

Currently we have demos available:

• Simple Rendezvous Algorithm (common variant of flocking -- not our work, just something to test the simulator with)
• Demos from current work :
  • Deployment over field from sum of two gaussians with connectivity enforced by tree based algorithm
  • Deployment over field of constant value with connectivity enforced by tree based algorithm
  • Deployment with tree maintenance but without connectivity constraints (motion constraints).
  • Flocking with connectivity constraints from tree based algorithm.
• From the paper Distributed motion constraints for algebraic connectivity of robotic networks
  • Four robots, conflicting control
  • flocking, modified to maintain algebraic connectivity (λ₂) above a threshold.
  • rendezvous, modified to maintain algebraic connectivity (λ₂) above a threshold.
• From the paper Safe graph rearrangements for distributed connectivity of robotic networks
  • Formation morphing

Or you can browse the JavaDoc documentation It is reccomended that you start at "IAgent". A complete source package is available upon request.

Keywords

• Robot
• Swarms
• Java
• simulation
• Mobile robotic networks