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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.

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