Infrastructure Layer#

The infrastructure layer is made of traffic lights and watchtowers.

Infrastructure elements sit on the floor layer, outside the lanes, and interact with the Duckiebots in town.

Traffic lights and watchtowers are proper robots: they have computation, sensing, memory and actuation capabilities. As such, they can be programmed to exhibit behaviors, including communication with other agents.

The most fundamental behavior of a traffic light is to signal (stop and go) to the Duckiebots at intersections.

The most fundamental behavior of watchtowers is to localize Duckiebots and communicate their position to other agents. A network of watchtowers is the first step to building a Duckietown Autolab.