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CatOpt-Swarm

CatOpt-Swarm is a validated Python package for safe distributed swarm optimization. It models robot tasks, contract-tagged deltas, and mission policies in a canonical IR, then runs a deterministic ADMM-lite coordinator with verification hooks.

Core Concepts

  • LocalProblem captures each robot's objective, state, and local limits.
  • PlanDelta carries contract-tagged updates with sequence and base-version replay guards.
  • SharedVariables tracks consensus, versioning, and applied sequence state.
  • SafetyPolicy enforces travel distance, separation, and energy limits.
  • ContractRegistry stores adapter contracts in a graph and supports conformance checks.

Behavior

  • Deterministic delta ordering and bounded-staleness replay control
  • Separation projection to keep robots apart during updates
  • Audit logs and convergence certificates per solve
  • Verification of consensus consistency, energy budgets, and trace continuity
  • Adapter shims for aerial and ground controllers

Layout

  • catopt_swarm.models
  • catopt_swarm.registry
  • catopt_swarm.adapters
  • catopt_swarm.solver
  • catopt_swarm.verification
  • catopt_swarm.cli

Install

python3 -m pip install -e .

Run

python3 -m catopt_swarm.cli

Compatibility entrypoints:

python3 admm_solver.py
python3 solver.py

Test

bash test.sh

Demo Coverage

  • Two-robot consensus planning
  • Adapter conformance checks for aerial and ground controllers
  • Graph-based contract registration
  • Safety verification after solve
  • Delta replay and version tracking

Status

This repository now covers the core planning, contract, and verification substrate. ROS/Gazebo integration and richer mission templates remain natural next steps.