diff --git a/prototype/README.md b/prototype/README.md
new file mode 100644
index 0000000..dae6e30
--- /dev/null
+++ b/prototype/README.md
@@ -0,0 +1,19 @@
+# Swarm visualization prototype
+
+A 2D top-down view of the swarm data plane from [04 — Swarm sync](../docs/04-swarm-sync.md): drones patrol an area with static and mobile obstacles, exchange 5 Hz pose broadcasts (blue link flashes), and run opportunistic bulk sync of sealed partitions (green links with live rate and cumulative up/down counters).
+
+No backend — a pure client-side simulation of the same behavioral model the Python simulator implements over real Parquet and UDP.
+
+## Run
+
+```bash
+npm install
+npm run dev # http://localhost:5173
+```
+
+## What to look at
+
+- **Links appear and disappear** as drones move in and out of radio range; persistent links render semi-transparent, broadcast deliveries flash them briefly.
+- **Busy links turn green** and show current rate plus total transferred (`↑` / `↓`) — the bandwidth budget from the sync design made visible.
+- **Per-drone label**: id, current Wi-Fi channel (hopping), battery.
+- Controls: drone count, simulation speed, pause.
diff --git a/prototype/index.html b/prototype/index.html
new file mode 100644
index 0000000..6eb0675
--- /dev/null
+++ b/prototype/index.html
@@ -0,0 +1,12 @@
+
+
+
+
+
+ Swarm House — swarm data-plane visualization
+
+
+
+
+
+
diff --git a/prototype/package-lock.json b/prototype/package-lock.json
new file mode 100644
index 0000000..8ed37c5
--- /dev/null
+++ b/prototype/package-lock.json
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+}
diff --git a/prototype/package.json b/prototype/package.json
new file mode 100644
index 0000000..aabc724
--- /dev/null
+++ b/prototype/package.json
@@ -0,0 +1,22 @@
+{
+ "name": "swarm-prototype",
+ "private": true,
+ "version": "0.1.0",
+ "type": "module",
+ "scripts": {
+ "dev": "vite",
+ "build": "tsc -b && vite build",
+ "preview": "vite preview"
+ },
+ "dependencies": {
+ "react": "^18.3.1",
+ "react-dom": "^18.3.1"
+ },
+ "devDependencies": {
+ "@types/react": "^18.3.12",
+ "@types/react-dom": "^18.3.1",
+ "@vitejs/plugin-react": "^4.3.4",
+ "typescript": "^5.6.3",
+ "vite": "^6.0.3"
+ }
+}
diff --git a/prototype/src/App.tsx b/prototype/src/App.tsx
new file mode 100644
index 0000000..0223f28
--- /dev/null
+++ b/prototype/src/App.tsx
@@ -0,0 +1,301 @@
+import { useEffect, useMemo, useRef, useState } from "react";
+import {
+ AREA,
+ fmtBytes,
+ makeWorld,
+ seed,
+ tick,
+ type World,
+} from "./sim";
+
+const VIEW = 1000;
+
+export default function App(): JSX.Element {
+ const [droneCount, setDroneCount] = useState(8);
+ const [speedup, setSpeedup] = useState(1);
+ const [paused, setPaused] = useState(false);
+ const [world, setWorld] = useState(() => {
+ seed(42);
+ return makeWorld(8);
+ });
+ const raf = useRef(0);
+ const last = useRef(performance.now());
+
+ useEffect(() => {
+ seed(42);
+ setWorld(makeWorld(droneCount));
+ }, [droneCount]);
+
+ useEffect(() => {
+ const loop = (now: number): void => {
+ const dt = Math.min(0.05, (now - last.current) / 1000);
+ last.current = now;
+ if (!paused && dt > 0) {
+ setWorld((w) => tick(w, dt * speedup));
+ }
+ raf.current = requestAnimationFrame(loop);
+ };
+ raf.current = requestAnimationFrame(loop);
+ return () => cancelAnimationFrame(raf.current);
+ }, [paused, speedup]);
+
+ const activeLinks = useMemo(
+ () => [...world.links.values()].sort((a, b) => b.rate - a.rate),
+ [world.links],
+ );
+ const busiest = activeLinks.slice(0, 6);
+
+ return (
+
+
+
+
SWARM HOUSE
+
+ swarm data plane — pose broadcast + opportunistic bulk sync
+
+
+
+
+ drones
+ setDroneCount(Number(e.target.value))}
+ />
+ {droneCount}
+
+
+ speed
+ setSpeedup(Number(e.target.value))}
+ />
+ {speedup}x
+
+ setPaused((p) => !p)}>
+ {paused ? "resume" : "pause"}
+
+
+
+
+
+
+
+
+
+
+
+
+
+ {gridLines()}
+
+ {/* Mesh links */}
+ {activeLinks.map((l) => {
+ const a = world.drones[l.a];
+ const b = world.drones[l.b];
+ if (!a || !b) return null;
+ const mx = (a.pos.x + b.pos.x) / 2;
+ const my = (a.pos.y + b.pos.y) / 2;
+ const hot = l.rate > 20_000;
+ return (
+
+
+ {hot && (
+
+ {fmtBytes(l.rate)}/s · Σ{fmtBytes(l.totalUp + l.totalDown)}
+
+ )}
+
+ );
+ })}
+
+ {/* Obstacles */}
+ {world.obstacles.map((ob) => (
+
+
+ {ob.moving && (
+
+ mobile
+
+ )}
+
+ ))}
+
+ {/* Drones */}
+ {world.drones.map((d) => (
+
+
+
+ dr-{String(d.id + 1).padStart(2, "0")} · ch{d.channel} · {d.battery.toFixed(0)}%
+
+
+ ))}
+
+
+
+
+
+ {busiest.map((l) => (
+
+
+ dr-{String(l.a + 1).padStart(2, "0")} ↔ dr-{String(l.b + 1).padStart(2, "0")}
+
+
+ {fmtBytes(l.rate)}/s · ↑{fmtBytes(l.totalUp)} ↓{fmtBytes(l.totalDown)}
+
+
+ ))}
+ {busiest.length === 0 && no links in range
}
+
+
+ blue line — pose broadcast (5 Hz, ~46 B)
+ green line — bulk sync (sealed partitions)
+ flash — broadcast event delivered
+ red circle — mobile obstacle
+
+
+
+
+ );
+}
+
+function sx(x: number): number {
+ return (x / AREA) * VIEW;
+}
+function sy(y: number): number {
+ return (y / AREA) * VIEW;
+}
+
+function gridLines(): JSX.Element {
+ const lines = [];
+ for (let i = 1; i < 10; i++) {
+ const p = (i / 10) * VIEW;
+ lines.push(
+ ,
+ ,
+ );
+ }
+ return {lines} ;
+}
+
+function Section({ title, children }: { title: string; children: React.ReactNode }): JSX.Element {
+ return (
+
+ );
+}
+
+function Stat({ name, value }: { name: string; value: string }): JSX.Element {
+ return (
+
+ {name}
+ {value}
+
+ );
+}
+
+const styles: Record = {
+ shell: {
+ minHeight: "100vh",
+ background: "#070b12",
+ color: "#dde4f0",
+ fontFamily: "'JetBrains Mono', ui-monospace, monospace",
+ display: "flex",
+ flexDirection: "column",
+ },
+ header: {
+ display: "flex",
+ justifyContent: "space-between",
+ alignItems: "center",
+ padding: "14px 22px",
+ borderBottom: "1px solid #1a2436",
+ flexWrap: "wrap",
+ gap: 12,
+ },
+ title: { fontSize: 18, fontWeight: 700, letterSpacing: 4, color: "#8fb4e8" },
+ subtitle: { fontSize: 11, color: "#5a6a85", marginTop: 2 },
+ controls: { display: "flex", gap: 18, alignItems: "center", flexWrap: "wrap" },
+ label: { display: "flex", gap: 8, alignItems: "center", fontSize: 12, color: "#8b98b0" },
+ value: { minWidth: 30, color: "#dde4f0" },
+ button: {
+ background: "#16233a",
+ color: "#8fb4e8",
+ border: "1px solid #2a3c5c",
+ borderRadius: 6,
+ padding: "6px 16px",
+ fontFamily: "inherit",
+ fontSize: 12,
+ cursor: "pointer",
+ },
+ main: { display: "flex", flex: 1, gap: 0, minHeight: 0 },
+ canvas: { flex: 1, minWidth: 0, display: "block" },
+ panel: {
+ width: 320,
+ borderLeft: "1px solid #1a2436",
+ padding: 16,
+ overflowY: "auto",
+ background: "#0a0f18",
+ },
+ section: { marginBottom: 22 },
+ sectionTitle: {
+ fontSize: 11,
+ letterSpacing: 2,
+ color: "#5a6a85",
+ textTransform: "uppercase",
+ marginBottom: 10,
+ borderBottom: "1px solid #1a2436",
+ paddingBottom: 5,
+ },
+ statRow: { display: "flex", justifyContent: "space-between", padding: "3px 0", fontSize: 12 },
+ statValue: { color: "#8fb4e8" },
+ linkRow: {
+ display: "flex",
+ flexDirection: "column",
+ padding: "4px 0",
+ fontSize: 11,
+ borderBottom: "1px dotted #141d2e",
+ },
+ linkName: { color: "#c8d2e4" },
+ linkStat: { color: "#5a8c6e", fontSize: 10, marginTop: 1 },
+ dim: { color: "#5a6a85", fontSize: 11, padding: "2px 0" },
+ linkLabel: { fill: "#39d98a", fontSize: 10, textAnchor: "middle", fontFamily: "inherit" },
+ droneLabel: { fill: "#6a7a95", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" },
+ obLabel: { fill: "#c05a6a", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" },
+};
diff --git a/prototype/src/main.tsx b/prototype/src/main.tsx
new file mode 100644
index 0000000..3dbfe39
--- /dev/null
+++ b/prototype/src/main.tsx
@@ -0,0 +1,13 @@
+import { StrictMode } from "react";
+import { createRoot } from "react-dom/client";
+import App from "./App";
+
+const rootEl = document.getElementById("root");
+if (!rootEl) throw new Error("missing #root");
+
+document.body.style.margin = "0";
+createRoot(rootEl).render(
+
+
+ ,
+);
diff --git a/prototype/src/sim.ts b/prototype/src/sim.ts
new file mode 100644
index 0000000..287b94a
--- /dev/null
+++ b/prototype/src/sim.ts
@@ -0,0 +1,236 @@
+// Swarm simulation core: pure functions over immutable-ish state.
+// Models patrol flight, separation, obstacle avoidance, mesh links with
+// pose-broadcast flashes and opportunistic bulk sync transfers.
+
+export interface Vec {
+ x: number;
+ y: number;
+}
+
+export interface Drone {
+ id: number;
+ pos: Vec;
+ vel: Vec;
+ heading: number; // radians
+ waypoint: number;
+ battery: number; // 0..100
+ channel: number; // Wi-Fi channel currently in use
+}
+
+export interface Obstacle {
+ id: number;
+ pos: Vec;
+ radius: number;
+ moving: boolean;
+ vel: Vec;
+}
+
+export interface LinkStats {
+ key: string;
+ a: number;
+ b: number;
+ totalUp: number; // bytes, a -> b
+ totalDown: number; // bytes, b -> a
+ rate: number; // current bytes/s (both directions)
+ flash: number; // 0..1, decaying broadcast pulse
+ bulk: number; // remaining bytes of an in-flight bulk transfer
+}
+
+export interface World {
+ t: number;
+ drones: Drone[];
+ obstacles: Obstacle[];
+ links: Map;
+ totalBytes: number;
+ broadcasts: number;
+}
+
+export const AREA = 1000; // meters, square side
+export const LINK_RANGE = 320;
+const CRUISE = 28;
+const SEPARATION = 55;
+const POSE_BYTES = 46;
+const POSE_HZ = 5;
+const CHANNELS = [1, 6, 11, 36, 40, 44, 149, 157];
+
+let seedState = 1234;
+export function seed(v: number): void {
+ seedState = v || 1;
+}
+function rnd(): number {
+ // xorshift32 — deterministic runs
+ seedState ^= seedState << 13;
+ seedState ^= seedState >>> 17;
+ seedState ^= seedState << 5;
+ return ((seedState >>> 0) % 100000) / 100000;
+}
+
+const WAYPOINTS: Vec[] = [
+ { x: 120, y: 120 },
+ { x: AREA - 120, y: 150 },
+ { x: AREA - 150, y: AREA - 120 },
+ { x: 150, y: AREA - 150 },
+];
+
+export function makeWorld(droneCount: number): World {
+ const drones: Drone[] = Array.from({ length: droneCount }, (_, i) => {
+ const angle = (i / droneCount) * Math.PI * 2;
+ return {
+ id: i,
+ pos: {
+ x: AREA / 2 + Math.cos(angle) * (150 + rnd() * 120),
+ y: AREA / 2 + Math.sin(angle) * (150 + rnd() * 120),
+ },
+ vel: { x: 0, y: 0 },
+ heading: angle,
+ waypoint: i % WAYPOINTS.length,
+ battery: 90 + rnd() * 10,
+ channel: CHANNELS[i % CHANNELS.length],
+ };
+ });
+ const obstacles: Obstacle[] = [
+ { id: 0, pos: { x: 340, y: 420 }, radius: 60, moving: false, vel: { x: 0, y: 0 } },
+ { id: 1, pos: { x: 700, y: 260 }, radius: 45, moving: false, vel: { x: 0, y: 0 } },
+ { id: 2, pos: { x: 560, y: 720 }, radius: 70, moving: false, vel: { x: 0, y: 0 } },
+ { id: 3, pos: { x: 200, y: 800 }, radius: 30, moving: true, vel: { x: 14, y: -6 } },
+ { id: 4, pos: { x: 820, y: 620 }, radius: 26, moving: true, vel: { x: -10, y: 9 } },
+ ];
+ return { t: 0, drones, obstacles, links: new Map(), totalBytes: 0, broadcasts: 0 };
+}
+
+function linkKey(a: number, b: number): string {
+ return a < b ? `${a}-${b}` : `${b}-${a}`;
+}
+
+function steer(d: Drone, world: World, dt: number): Drone {
+ const wp = WAYPOINTS[(d.waypoint + d.id) % WAYPOINTS.length];
+ let ax = wp.x - d.pos.x;
+ let ay = wp.y - d.pos.y;
+ const wpDist = Math.hypot(ax, ay);
+ let waypoint = d.waypoint;
+ if (wpDist < 90) waypoint = (d.waypoint + 1) % WAYPOINTS.length;
+ ax /= wpDist || 1;
+ ay /= wpDist || 1;
+
+ // Separation from peers
+ for (const other of world.drones) {
+ if (other.id === d.id) continue;
+ const dx = d.pos.x - other.pos.x;
+ const dy = d.pos.y - other.pos.y;
+ const dist = Math.hypot(dx, dy);
+ if (dist < SEPARATION && dist > 0.01) {
+ const push = (SEPARATION - dist) / SEPARATION;
+ ax += (dx / dist) * push * 2.4;
+ ay += (dy / dist) * push * 2.4;
+ }
+ }
+ // Obstacle avoidance
+ for (const ob of world.obstacles) {
+ const dx = d.pos.x - ob.pos.x;
+ const dy = d.pos.y - ob.pos.y;
+ const dist = Math.hypot(dx, dy);
+ const margin = ob.radius + 55;
+ if (dist < margin && dist > 0.01) {
+ const push = (margin - dist) / margin;
+ ax += (dx / dist) * push * 4.0;
+ ay += (dy / dist) * push * 4.0;
+ }
+ }
+
+ const mag = Math.hypot(ax, ay) || 1;
+ const vx = d.vel.x * 0.85 + (ax / mag) * CRUISE * 0.15;
+ const vy = d.vel.y * 0.85 + (ay / mag) * CRUISE * 0.15;
+ const heading = Math.atan2(vy, vx);
+ return {
+ ...d,
+ waypoint,
+ vel: { x: vx, y: vy },
+ heading,
+ pos: {
+ x: Math.max(20, Math.min(AREA - 20, d.pos.x + vx * dt)),
+ y: Math.max(20, Math.min(AREA - 20, d.pos.y + vy * dt)),
+ },
+ battery: Math.max(0, d.battery - dt * 0.05),
+ channel: rnd() < dt * 0.15 ? CHANNELS[Math.floor(rnd() * CHANNELS.length)] : d.channel,
+ };
+}
+
+export function tick(world: World, dt: number): World {
+ const drones = world.drones.map((d) => steer(d, world, dt));
+ const obstacles = world.obstacles.map((ob) =>
+ ob.moving
+ ? {
+ ...ob,
+ pos: { x: ob.pos.x + ob.vel.x * dt, y: ob.pos.y + ob.vel.y * dt },
+ vel: {
+ x: ob.pos.x < 60 || ob.pos.x > AREA - 60 ? -ob.vel.x : ob.vel.x,
+ y: ob.pos.y < 60 || ob.pos.y > AREA - 60 ? -ob.vel.y : ob.vel.y,
+ },
+ }
+ : ob,
+ );
+
+ const links = new Map(world.links);
+ let totalBytes = world.totalBytes;
+ let broadcasts = world.broadcasts;
+
+ // Decay all links; drop the ones out of range
+ for (const [key, l] of links) {
+ const a = drones[l.a];
+ const b = drones[l.b];
+ const inRange =
+ a && b && Math.hypot(a.pos.x - b.pos.x, a.pos.y - b.pos.y) <= LINK_RANGE;
+ if (!inRange) {
+ links.delete(key);
+ continue;
+ }
+ links.set(key, { ...l, flash: Math.max(0, l.flash - dt * 3), rate: l.rate * 0.9 });
+ }
+
+ for (let i = 0; i < drones.length; i++) {
+ for (let j = i + 1; j < drones.length; j++) {
+ const dist = Math.hypot(
+ drones[i].pos.x - drones[j].pos.x,
+ drones[i].pos.y - drones[j].pos.y,
+ );
+ if (dist > LINK_RANGE) continue;
+ const key = linkKey(i, j);
+ const link =
+ links.get(key) ??
+ ({ key, a: i, b: j, totalUp: 0, totalDown: 0, rate: 0, flash: 0, bulk: 0 } as LinkStats);
+
+ // Pose broadcasts: 5 Hz each direction
+ const poseBytes = POSE_BYTES * POSE_HZ * dt;
+ let up = poseBytes;
+ let down = poseBytes;
+ if (rnd() < dt * POSE_HZ * 0.35) {
+ link.flash = 1;
+ broadcasts += 1;
+ }
+ // Occasional bulk sync (sealed partition replication)
+ if (link.bulk <= 0 && rnd() < dt * 0.02) {
+ link.bulk = 50_000 + rnd() * 450_000;
+ }
+ if (link.bulk > 0) {
+ const chunk = Math.min(link.bulk, 120_000 * dt);
+ link.bulk -= chunk;
+ if (rnd() < 0.5) up += chunk;
+ else down += chunk;
+ }
+ link.totalUp += up;
+ link.totalDown += down;
+ link.rate = link.rate * 0.9 + ((up + down) / dt) * 0.1;
+ totalBytes += up + down;
+ links.set(key, { ...link });
+ }
+ }
+
+ return { t: world.t + dt, drones, obstacles, links, totalBytes, broadcasts };
+}
+
+export function fmtBytes(n: number): string {
+ if (n < 1024) return `${n.toFixed(0)} B`;
+ if (n < 1024 * 1024) return `${(n / 1024).toFixed(1)} KB`;
+ if (n < 1024 * 1024 * 1024) return `${(n / 1024 / 1024).toFixed(1)} MB`;
+ return `${(n / 1024 / 1024 / 1024).toFixed(2)} GB`;
+}
diff --git a/prototype/tsconfig.json b/prototype/tsconfig.json
new file mode 100644
index 0000000..1878be4
--- /dev/null
+++ b/prototype/tsconfig.json
@@ -0,0 +1,16 @@
+{
+ "compilerOptions": {
+ "target": "ES2022",
+ "lib": ["ES2022", "DOM", "DOM.Iterable"],
+ "module": "ESNext",
+ "moduleResolution": "bundler",
+ "jsx": "react-jsx",
+ "strict": true,
+ "noUnusedLocals": true,
+ "noUnusedParameters": true,
+ "noFallthroughCasesInSwitch": true,
+ "skipLibCheck": true,
+ "noEmit": true
+ },
+ "include": ["src"]
+}
diff --git a/prototype/tsconfig.tsbuildinfo b/prototype/tsconfig.tsbuildinfo
new file mode 100644
index 0000000..6953ed3
--- /dev/null
+++ b/prototype/tsconfig.tsbuildinfo
@@ -0,0 +1 @@
+{"root":["./src/App.tsx","./src/main.tsx","./src/sim.ts"],"version":"5.9.3"}
\ No newline at end of file
diff --git a/prototype/vite.config.ts b/prototype/vite.config.ts
new file mode 100644
index 0000000..081c8d9
--- /dev/null
+++ b/prototype/vite.config.ts
@@ -0,0 +1,6 @@
+import { defineConfig } from "vite";
+import react from "@vitejs/plugin-react";
+
+export default defineConfig({
+ plugins: [react()],
+});