ParSwarm: A C++ Framework for Evaluating Distributed Algorithms for Robot Swarms


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Due to the increasing complexity of robot swarm algorithms, analyzing their performance theoretically is often very difficult. Instead, simulators are often used to benchmark the performance of robot swarm algorithms. However, we are not aware of simulators that take advantage of the naturally highly parallel nature of distributed robot swarms. This paper presents ParSwarm, a parallel C++ framework for simulating robot swarms at scale on multicore machines. We demonstrate the power of ParSwarm by implementing two applications, task allocation and density estimation, and running simulations on large numbers of agents.
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