Swarm map

This project defines a map-like data structure which propagates throughout a robot swarm.

Addressed problems and limitations

Each robot can instantiate (currently) up to one entry and manages that entry.
Entries can be updated by the robot that instantiated it.
The swarm of robots must reach consensus despite high packet drop rates.
The robots have bandwidth limitations.
Entries can become inactive after a fixed amount of time to deal with defective/far-away robots.

Possible usages

Sharing and updating sub-swarm memberships.
Sharing and updating sensor readings.
Reaching a barrier, that is, waiting until a certain number of robots are ready to go to the next state.

Compiling

$ mkdir build
$ cd build
$ cmake ../src
$ make

Optional step. You may link against the library and include the headers from source instead.

$ sudo make install

Run cmake with the option -DCMAKE_INSTALL_PREFIX=/path/to/install/to. For example:

$ cmake ../src -DCMAKE_INSTALL_PREFIX="$HOME/local/"

Then you may install with:

$ make install