# Autonomous Swarm Urban Car Search: First 30 Minutes Developer Wiki

> A fast onboarding guide to the decentralized multi-robot car search system, navigating Ant Colony Optimization, multi-layer stigmergy, vision pipelines, fault recovery, and simulation execution.

This is a Grok-Wiki source-grounded repository wiki. Use the complete Markdown link when an agent needs the full repo context.

## Context Links

- [Complete Markdown wiki](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/llms-full.txt)
- [Complete Markdown alias](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601.md)
- [Human interactive wiki](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601)
- [GitHub repository](https://github.com/ivaziz/swarm_car_search)

## Repository

- Repository: ivaziz/swarm_car_search

- Generated: 2026-10-19T09:57:29.544Z
- Updated: 2026-10-19T12:26:44.858Z
- Runtime: Antigravity CLI
- Format: First 30 Minutes
- Pages: 6

## Pages

- [Start Here: System Mental Model & 30-Minute Reading Order](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/01-start-here-system-mental-model-30-minute-reading-order.md): Core mental model for the decentralized multi-robot car search system, team subsystem boundaries between Swarm and SLAM, essential glossary terminology, and the recommended code-reading order.
- [First Execution, Scenarios & Runtime Boundaries](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/02-first-execution-scenarios-runtime-boundaries.md): Hands-on guide to launching deterministic simulation scenarios (A through F), inspecting generated visual artifacts (ASCII HUD, SVG snapshots, Matplotlib panels), and understanding environment setup constraints and dependencies.
- [ACO Multi-Objective Scoring & Tri-Layer Stigmergy](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/03-aco-multi-objective-scoring-tri-layer-stigmergy.md): Detailed mechanics of the decentralized Ant Colony Optimization engine, the 8-factor score formulation, Boltzmann Softmax action selection, tri-layer pheromone evaporation dynamics, and recursive Bayesian target probability updates.
- [Perception Pipeline & Subsystem Contracts](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/04-perception-pipeline-subsystem-contracts.md): The 5-stage target identification pipeline covering raycast FOV occlusion, Levenshtein fuzzy license plate OCR, appearance verification, temporal tracking, and the abstract ISLAMProvider interface contract decoupling Swarm from SLAM.
- [Autonomous Fault Detection & Dynamic Reallocation](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/05-autonomous-fault-detection-dynamic-reallocation.md): Telemetry monitoring for silent heartbeat timeouts, battery exhaustion, and kinematic stalls, coupled with dynamic task revocation, avoidance pheromone deposition over disabled units, and immediate peer reallocation.
- [Beyond the First 30 Minutes: 3D Gazebo & Extension Points](https://grok-wiki.com/public/wiki/ivaziz-swarm-car-search-66a3d00cb601/pages/06-beyond-the-first-30-minutes-3d-gazebo-extension-points.md): Synthesis of initial learnings, bridging from 2D discrete simulation to containerized ROS 2 / Gazebo Fortress 3D worlds, running Monte Carlo benchmark evaluations against baselines, and architectural extension hooks.

## Source Files

- `configs/aco_params.yaml`
- `configs/default_config.yaml`
- `docker/Dockerfile`
- `docs/GLOSSARY.md`
- `docs/SETUP_AND_EXECUTION.md`
- `docs/thesis_chapter_swarm.md`
- `evaluation/ai_benchmarks.py`
- `interfaces/perception_interface.py`
- `interfaces/slam_interface.py`
- `perception/matching_engine.py`
- `perception/plate_recognizer.py`
- `perception/vehicle_detector.py`
- `README.md`
- `requirements.txt`
- `run_gazebo_gui.sh`
- `scripts/main.py`
- `scripts/run_evaluation.py`
- `scripts/run_simulation.py`
- `simulation/scenarios.py`
- `swarm/aco/aco_config.py`
- `swarm/aco/aco_engine.py`
- `swarm/aco/task_scorer.py`
- `swarm/communication/local_comm.py`
- `swarm/core/robot_agent.py`
- `swarm/core/swarm_coordinator.py`
- `swarm/failure_handling/failure_detector.py`
- `swarm/failure_handling/recovery_manager.py`
- `swarm/pheromone/pheromone_map.py`
- `swarm/pheromone/target_probability_map.py`
- `swarm/task_allocation/task_manager.py`
- `tests/test_failure_handling.py`
- `visualization/swarm_visualizer.py`