Layer - Infrastructure

The infrastructure layer is composed of two primary elements:

• Traffic Lights

• Watchtowers (legacy instructions, work in progress new instructions)

Infrastructure elements are positioned on the tilemap (floor) layer, outside the lanes, and interact directly with Duckiebots within Duckietown.

Key Components and Behaviors

1. Traffic Lights: These function as robots with computation, sensing, memory, and actuation capabilities. Their primary behavior is to signal (stop and go) at intersections, ensuring smooth navigation and traffic management for Duckiebots.

2. Watchtowers: These robotic systems localize Duckiebots and communicate their positions to other agents. Watchtowers form the backbone of a Duckietown Autolab, providing advanced coordination and monitoring.

   • Legacy Manual: Watchtower Hardware - Legacy Instructions

   • Work in Progress: Updated Watchtower Manual

A network of watchtowers is an essential step in upgrading Duckietown to an Autolab environment. Traffic lights can be integrated into this network to extend their functionality.

Tip

If this is your first time exploring the infrastructure layer, you may ignore Watchtowers. However, if you plan to upgrade your Duckietown to an Autolab, remember that traffic lights can be incorporated into the Watchtower network.