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hiveBr — Brazilian Open Lab for Multi-Robots

🐝hiveBr🐝 is a lightweight 2D simulation framework for single- and multi-robot mobile navigation. It ships a Pygame-based physics/renderer engine and a clean OpenLab API that lets the same user script run a fleet locally or on a physical arena.

Robots in the simulator are called B-bots (for bee), keeping with the hive metaphor.

Why hiveBr?

  • Mono or fleet, one API. A single robot is just a fleet with N = 1.
  • Dual paradigm. Write decentralized logic with HiveBrAgent (one instance per B-bot) or centralized logic with SwarmController (one object for the whole fleet).
  • Interactive GUI. Pan, zoom, load occupancy-grid maps, switch themes, toggle LiDAR, and add waypoints/obstacles with the mouse.
  • Two environment representations. Analytic circular obstacles and image-based occupancy grids with inflation.
  • Precision sensing. Ray-casting LiDAR using a DDA algorithm against the grid plus analytic circle intersections.
  • Deterministic fleets. Every timestep is computed from a frozen snapshot of the fleet state, so results are independent of robot update order.
  • Research-ready. Pluggable controllers, path planners (A*, RRT, RRT*, PRM, BIT*, OMPL, RRT-Dubins), and a data logger for offline analysis.

A 20-second taste

from hivebr import HiveBrAgent, SwarmExperiment

class Patrol(HiveBrAgent):
    def loop(self, state, neighbors):
        # state.goal holds the current waypoint (x, y, theta)
        return 0.5, 0.0

exp = SwarmExperiment(robots=3, backend="navsim2d")
exp.assign_agent(robot_ids=[0, 1, 2], agent_class=Patrol)
exp.assign_route(0, [[5, 2, 0.0], [5, 6, 0.0]])
exp.run()

Switching backend="ros2" reuses the same agent code on the physical lab.

Where to go next

  • Getting started

    Install hivebr and run your first B-bot in minutes.

    Quick Start

  • Robots, sensors & maps

    Understand the five kinematic models, LiDAR and occupancy grids.

    Robot Models

  • OpenLab API

    Master the dual paradigm: decentralized agents and centralized controllers.

    OpenLab API

  • API reference

    Auto-generated reference for every class and function.

    API Reference

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