SwarmXplorer 🛸

A Hardware-Agnostic, Decentralized Swarm Intelligence Framework for Autonomous Exploration & Spatial Mapping.

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⚡ Core Architecture

• Decentralized Brain: Yamauchi Frontier-Based Exploration for autonomous multi-agent targeting.
• Virtual Mesh Network: Range-limited P2P communication simulation with dynamic topology.
• Occupancy Grid Consensus: Real-time decentralized map merging across neighboring swarm nodes.
• Hardware Abstraction Layer (HAL): Simulation logic decoupled from hardware (ESP32 / ROS 2 ready).

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📁 Repository Structure

SwarmXplorer/
├── config.py         # Swarm physics & arena boundaries
├── core/
│   ├── mesh_node.py  # Peer-to-Peer network protocol
│   └── robot_agent.py# Agent controller & Frontier brain
├── algos/
│   └── frontier_search.py # Yamauchi frontier detection algorithm
├── sim/
│   └── visualizer.py # Matplotlib map generator
└── main.py           # Swarm simulation entrypoint