The Duckietown Operation Manual

This book describes the Duckietown appearance specifications and assembly instructions.

Specifications are a set of rules for which a functional system has been verified.

This means that if these rules are followed while building a Duckietown, Duckiebots will work as expected.

Any Duckietown not adhering to the rules described here cannot be considered a Duckietown, and may cause the Duckiebots operating within them to fail in (possibly spectacularly) unexpected ways.

Small perturbations to the appearance specifications might affect negatively the performance of Duckiebots, although most algorithms are robust to variations.

Below are examples of Duckietowns of different sizes and complexities, compatible with the appearance specifications.

Appearance Specifications

• Introduction to Duckietown Appearance Specifications
• Layer - Tilemap
• Layer - Traffic Signs
• Layer - Infrastructure
• Layer - Parking Lots BETA
• Decorations

Assembly

• Assembly - Road Tiles
• Assembly - Traffic Signs
• Assembly - Traffic Light

Duckietown city examples

Fig. 49 A simple city loop: the smallest city configuration compatible with Duckietown appearance specifications

Fig. 50 The smallest city configuration with intersections compatible with Duckietown appearance specifications

Fig. 51 Example larger Duckietown city layout: arbitrarily large cities and topographies are possible