I've seen a few interesting demo's of small robots or drones demonstrating swarm features. In other words, sensing their proximity/position to each other as well as the environment. Does anybody know of any libraries, algorithms, etc. that are available and well documented so that this kind of thing can be experimented with on a DIY basis? Obviously the hardware would need to support such sensing/position awareness and so forth, but I haven't been able to find any software or libraries that implement the behavior.