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Safe, verifiable distributed optimization for robotic swarms
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README.md

CatOpt-Swarm

Safe, verifiable distributed optimization for robotic swarms.

CatOpt-Swarm models swarm coordination as a small validated IR:

  • LocalProblem captures each robot's local objective and state.
  • PlanDelta carries deterministic, contract-tagged updates.
  • SharedVariables stores consensus state and versioning.
  • SafetyPolicy enforces travel, separation, and energy limits.
  • ContractRegistry records adapter and mission contracts as a graph.

The solver is a deterministic ADMM-lite loop with:

  • bounded-step local updates
  • delta reconciliation with bounded staleness
  • separation projection for collision avoidance
  • audit logs and convergence certificates

Package 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

Or use the compatibility script:

python3 admm_solver.py

Test

bash test.sh

What the demo covers

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

Notes

This repository currently focuses on the core planning and verification substrate. The next extension point is integrating ROS/Gazebo-backed mission replay and richer platform adapters.