Tashi Vertex Swarm Starter Kit (Webots Edition)

A Decentralized Swarm Controller for Webots, powered by the Tashi Vertex consensus engine. These drones form a peer-to-peer (P2P) mesh and reach verifiable agreement on mission commands without a central server.

Prerequisites

• Webots R2021a or newer
• Rust (install from https://rustup.rs)
• CMake 4.0+ (pip install cmake)
• Python 3.8+
• Windows (WSL): If on Windows, you can use WSL to build and run the Tashi binaries. The starter kit will automatically detect and use WSL as a bridge.

Quick Start

1. Setup

./setup.sh

This will:

• Build the Tashi tools (drone-comm, key-generate)
• Generate unique P2P keys for each drone
• Create swarm_config.json

2. Run

1. Open Webots
2. Load worlds/sample.wbt
3. Press Play

Watch the console for Consensus Layer: READY and mission consensus.

Project Structure

├── tashi-tools/              # Rust binaries (uses tashi-vertex crate)
│   ├── Cargo.toml
│   └── src/bin/
│       ├── drone-comm.rs     # P2P node for Webots
│       └── key-generate.rs   # Key generation tool
├── controllers/tashi_drone/  # Webots controller
│   ├── tashi_drone.py        # Main loop
│   ├── tashi_manager.py      # Tashi node interface
│   ├── config.py             # Configuration
│   └── swarm_config.json     # Generated keys (git-ignored)
├── worlds/                   # Webots world files
│   └── sample.wbt            # 2-drone example
├── utils/
│   └── generate_config.py    # Key generation script
└── setup.sh                  # One-command setup

Architecture

• Decentralized Control: Each drone runs its own Python controller
• P2P Consensus: Each drone launches a Tashi node that communicates directly with peers
• Zero-Trust Identity: Dynamically generated Ed25519 keys sign and verify all messages

Adding More Drones

1. Edit utils/generate_config.py and add names to DRONE_NAMES
2. Run python utils/generate_config.py
3. Add matching drones in Webots with the same names

Troubleshooting

Socket Error ("Failed to bind socket")

• Kill lingering processes: pkill -f drone-comm
• On Windows: Close drone-comm.exe in Task Manager
• On WSL: Run wsl --shutdown in your terminal

Identity Mismatch

• Ensure drone name in Webots matches keys in DRONE_NAMES

Build Errors

• Ensure CMake 4.0+: pip install cmake --upgrade
• Check Rust is installed: cargo --version

License

Apache 2.0 - See LICENSE file