Swarmify is a simple swarm, motion planning, and collision avoidance simulation based on a potential field method. It is designed to provide a basic and easy-to-use swarm manipulation toolbox. The package comes with different computation strategies, including CPU, GPU, and combined implementations, allowing you to choose the best approach for your project and target platform. The simulation is based on a simple yet effective method, where each agent reacts to other agents and a target by moving away from them, resulting in fluent and collision-free motion/path planning.
The simulation works by having each agent (Follower) with its own sensor range, reacting to other agents by moving away from them. Each agent also has a target (Leader) that it tries to reach. The movement direction is the result of the sum of all repulsive parts (other agents) and the attractive part (target). The package includes three computation strategies: Autonomous (uses Unity's physics engine), Centralized CPU, and Centralized GPU (with a significant performance improvement).
