Overview

From single bot to self-organizing swarms-simulate, measure, and scale with confidence. In SIMULATING SWARM DYNAMICS, you'll learn to design, prototype, and validate multi-robot behaviors using Gazebo and ROS2. This practical, lab-driven guide takes you from building worlds and sensor plugins to running headless, fleet-scale experiments that reveal emergent phenomena like flocking, foraging, dispersion, and formation control-before you deploy a single robot. Inside, you'll discover how to: Stand up a reusable ROS2/Gazebo project: packages, launch files, namespaces, and parameter sets for N robots. Configure DDS & QoS (reliability, durability, liveliness) so swarm messages flow under load. Build realistic worlds with terrain, lighting, noise, and failure injection for stress-testing. Implement local interactions (ORCA/RVO, velocity obstacles) that yield safe global behavior. Add task allocation & coordination: auctions, consensus, leader election, and behavior trees. Integrate Nav2 for multi-agent navigation with per-robot costmaps and conflict-aware routing. Run multi-robot SLAM, map sharing/merging, and frontier exploration for scalable coverage. Automate scenario sweeps: headless runs, parameter grids, metrics logging, and replayable rosbag2 post-mortems. Optimize performance with sensor/physics tuning, containerized builds, and CI for regression-free swarms. Harden and ship with SROS2, OTA configs, and fleet telemetry dashboards. With step-by-step labs, reference launch files, and case studies (warehouses, inspection, search-and-rescue), this book turns swarm theory into a reliable simulation pipeline-so your first field test feels like a rerun. Who This Book Is For Robotics engineers scaling from one robot to many ROS2 developers building coordinated multi-agent stacks Researchers & students modeling emergent behaviors reproducibly Product teams validating fleet strategies before hardware hits the floor If one robot is a demo, a swarm is a system-simulate it like one.

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