Anveshan: 2-D Swarm Simulator for Coordination of Multi-Robot Systems

Swarm robotics has emerged as a promising field with applications ranging from search and rescue operations to environmental monitoring. This paper introduces Anveshan, a 2-D swarm robot simulator developed to provide a user-friendly yet powerful platform for simulating and analyzing swarm behaviors. Focusing on the search use case, particularly in the context of Search and Rescue operations during disaster response, we showcase the capabilities of Anveshan in addressing the complexities associated with coordinated multi-robot systems. In this paper, we analyze the existing swarm simulators and define the architecture of Anveshan, along with details about all the included modules and configurable parameters offered by the simulator to demonstrate its flexibility