Distributed Perception — Multi-Robot Hazard Localization

Three-mode simulation of a homogeneous team of ground robots performing distributed environmental monitoring without any central controller.

Modes

Key	Mode	Algorithms
1	Hazard Localization	Gossip + DKF + Lloyd–Voronoi + λ₂
2	Sensor Degradation & Trust	+ trust-weighted consensus, outlier resilience
3	Formation Control	Consensus-based formation tracking (circle / line / V)

Project structure

distributed_perception/
├── main.py                         ← launch the live visualiser
├── config/default.py               ← all parameters
├── core/                           ← swappable algorithm classes
│   ├── consensus.py                  Weighted Gossip Consensus
│   ├── kalman.py                     Distributed Kalman Filter (info form)
│   ├── coverage.py                   Lloyd–Voronoi
│   ├── graph_metrics.py              Comm graph + λ₂
│   ├── trust.py                      Trust / reputation system
│   └── formation.py                  Formation control
├── environment/
│   ├── gas_field.py                  Multi-source gas dynamics
│   └── map.py                        Free space, obstacles, spawn helpers
├── agents/
│   └── robot.py                      Robot state, sensing, movement
├── scenario/
│   ├── manager.py                    Top-level mode dispatcher
│   └── modes/
│       ├── localization.py
│       ├── degradation.py
│       └── formation.py
├── simulation/
│   ├── simulation.py                 Orchestrator (one step = one tick)
│   └── event_log.py                  In-memory + .log + .csv logging
├── visualisation/
│   └── visualizer.py                 White-theme matplotlib UI
└── logs/                             Auto-generated per-run logs

To change something, edit only one file

What	Where
Algorithm internals	core/<thing>.py
Robot model	agents/robot.py
Gas / map	environment/
Mode logic	scenario/modes/<mode>.py
UI / theme	visualisation/visualizer.py
Parameters	config/default.py

Run

pip install -r requirements.txt
python3 main.py

Keyboard controls

Key	Action	Mode
1 2 3	Switch mode	any
L	Force new leak	1, 2
D	Degrade random robot	2
0 … 4	Degrade specific robot	2
A	Toggle auto-degradation	2
F	Cycle formation shape	3
K	Kill random robot	any
Space	Pause / resume	any
R	Reset simulation	any
Q / Esc	Quit	any