Simulation and analysis of peer-to-peer robot swarm network

• Date: 2026
• Main Authors: Rahozin, D.V., Smirnov, V.Ye.
• Format: Article
• Language: English
• Published: PROBLEMS IN PROGRAMMING 2026
• Subjects: swarm simulation; wireless network; digital twin; TDMA-based communication; UDC 681.3
• Online Access: https://pp.isofts.kiev.ua/index.php/ojs1/article/view/1026
• Journal Title: Problems in programming

In the paper we describe the full cycle development of TDMA-based communication protocol for a swarm of robots, including simulation and hard-ware implementation. The protocol is targeted to have a robust, inter ference-immune transport in the network. First, we developed a simulator, based on SimPy simulation pack age, which helps us to run thousands of simulations for proving the concept of TDMA-based communications for robotic swarm. Second, using the simulator we developed a bunch of techniques for the TDMA transport to improve network robustness and simulations allowed to gather statistics and choose the better algorithm. Third, we employed so-called AI tools to implement parts of simulator and a helper technique to convert simulation code to embedded code, approaching “digital twin” paradigm. Finally, the simulated protocols are successfully ported to hardware, which supports LoRa protocol, but not limited to LoRa physical layer. The resulting embedded code works accordingly to simulation results and gathered statistics. The developed sim ulation environment and modern so-called AI tools allowed to shorten dramatically the embedded software development cycle and evaluate algorithm efficiency information from the simulation results before applying on real hardware.Prombles in programming 2026; 2: 58-66