For better viewing, visit http://davidkun.github.io/MAS/
I created a point class to represent a vehicle/agent in the system. It includes simple point-mass (linear) dynamic equations, specifications of state and sensor noise (when the agent moves or senses other agents), and several other methods.
There is also a test.py module that imports the class, runs a multi-agent simulation, plots the results, and displays an animation. Here is an example of the animation that is created:
In 2013, I (@davidkun) started this project for testing a distributed estimation algorithm.