Introduction

Functionally, Duckietown cities are an integral part of the robotic ecosystem we call Duckietown.

Duckietown cities are designed to communicate information to the Duckiebots, so these can operate effectively.

Duckietown cities are modular, i.e., they are composed of fundamental building blocks that can be combined to create nearly arbitrary city landscapes.

Duckietown cities are built in layers. Each layer sends information of increasing complexity to the robots operating in it. The layers are, namely, the: floor, signals, and smart infrastructure layers. “Non-functional” elements compliment the construction of every Duckietown.