Sail Swarm Simulator

Overview

For my 2025 summer internship I worked with Pranav Kedia and the University of Konstanz to research and develop a simulator for modeling swarm sailing behaviors. Our work is currently pending publication in the ANTS 2026 International Conference on Swarm Intelligence.

Marine robotics, and especially sailing simulation is a very niche field. Current simulators like Gazebo, IsaacSim, VRX and all others currently lack features necessary to properly simulate swarm sailing behavior. Major issues include poor performance when simulating multiple agents and a lack of water/wind physics.

My goal with this simulator is to bridge this gap and provide a robust and adaptable simulation environment that can be used in future research.