Robotic fleets — worked graph designs

These designs describe intended system behavior and qualification requirements. Inspect the system atlas for named ports and relation participants.

Robotic fleet: mission allocation and local safety

Which decisions stay on the robot when fleet connectivity fails?

Inspect this design · Definition JSON · revision 57d3d7b23686

Diagram legend. Frames are named graph regions. Left/right pins show required/offered participation, not a universal schedule. Filled pins are connected; hollow pins are unbound. A junction card preserves one relation's role slots.

Marker	Meaning in this diagram
ƒ N01	Pure computation
⌕ N22	Query / materialized view
↗ N19	Tool / external API adapter
▣ N05	Actor / statechart
⊂ N33	Policy / principal boundary
⚙ N15	Device / platform adapter
○ P01	Value / immutable snapshot
◎ P24	Inspection / evidence
⇆ P02	Request / response
⊂ P20	Authorization request / grant
→ H02	Value flow
⇆ H05	Request / reply binding
⊂ H23	Scoped authorization
⋂ H09	Join-all

Logic and ownership

A Kotlin allocation algorithm searches feasible assignments from a versioned demand/capacity cut; local motion logic remains in the qualified robot controller.

Failure and qualification

Fleet approval never overrides physical interlocks or local safety limits.
A missed network heartbeat is an uncertain observation, not permission to continue indefinitely.
Hard real-time and safety certification need a qualified host and independent evidence.

Hyperedge roles

Relation	Pattern	Participants, preserving role positions
capacity	H02 — Value flow {#h02--value-flow}	provider[0]: capacity.snapshot; consumer[0]: planner.capacity
plan	H02 — Value flow {#h02--value-flow}	provider[0]: planner.mission; consumer[0]: mission.proposal
delivery	H05 — Request / reply binding {#h05--request--reply-binding}	provider[0]: mission.assign; consumer[0]: robot.mission
safe	H23 — Scoped authorization {#h23--scoped-authorization}	provider[0]: safety.grant; consumer[0]: robot.motion
actuator	H05 — Request / reply binding {#h05--request--reply-binding}	provider[0]: actuator.move; consumer[0]: robot.actuate
allocation	H09 — Join-all {#h09--join-all}	demand[0]: planner.demand; supply[1]: capacity.supply; assignment[2]: mission.assignment

Kotlin common declaration

Import dev.shibasis.reaktor.portgraph.definition.* for this structural declaration. Behavior stays in ordinary Kotlin and binds through qualified runtime ports and adapters. Declaring a graph does not activate a system.

graphDefinition("robot-allocation", "57d3d7b236867fdf1b2251c728a4569af7de18a8d9ad26114db789c675957c96") {
    region("fleet", "Fleet coordination")
    region("robot", "Robot-local execution")
    node("planner", "Fleet mission planner", "N01", "fleet", ports = listOf(
        PortDefinition("capacity", "P01", "FleetCapacityV1", PortPolarity.Require),
        PortDefinition("mission", "P01", "MissionProposalV1", PortPolarity.Offer),
        PortDefinition("demand", "P24", "DemandRefV1", PortPolarity.Neutral)
    ))
    node("capacity", "Robot capacity view", "N22", "fleet", ports = listOf(
        PortDefinition("snapshot", "P01", "FleetCapacityV1", PortPolarity.Offer),
        PortDefinition("supply", "P24", "SupplyRefV1", PortPolarity.Neutral)
    ))
    node("mission", "Mission service", "N19", "fleet", ports = listOf(
        PortDefinition("proposal", "P01", "MissionProposalV1", PortPolarity.Require),
        PortDefinition("assign", "P02", "MissionAssignV1", PortPolarity.Offer),
        PortDefinition("assignment", "P24", "AssignmentRefV1", PortPolarity.Neutral)
    ))
    node("robot", "Robot mission actor", "N05", "robot", ports = listOf(
        PortDefinition("mission", "P02", "MissionAssignV1", PortPolarity.Require),
        PortDefinition("motion", "P20", "MotionGrantV1", PortPolarity.Require),
        PortDefinition("actuate", "P02", "MotionCommandV1", PortPolarity.Require)
    ))
    node("safety", "Local safety controller", "N33", "robot", ports = listOf(
        PortDefinition("grant", "P20", "MotionGrantV1", PortPolarity.Offer)
    ))
    node("actuator", "Actuator adapter", "N15", "robot", ports = listOf(
        PortDefinition("move", "P02", "MotionCommandV1", PortPolarity.Offer)
    ))
    relation("capacity", "H02",
        Incidence("capacity", "snapshot", "provider", 0),
        Incidence("planner", "capacity", "consumer", 0)
    )
    relation("plan", "H02",
        Incidence("planner", "mission", "provider", 0),
        Incidence("mission", "proposal", "consumer", 0)
    )
    relation("delivery", "H05",
        Incidence("mission", "assign", "provider", 0),
        Incidence("robot", "mission", "consumer", 0)
    )
    relation("safe", "H23",
        Incidence("safety", "grant", "provider", 0),
        Incidence("robot", "motion", "consumer", 0)
    )
    relation("actuator", "H05",
        Incidence("actuator", "move", "provider", 0),
        Incidence("robot", "actuate", "consumer", 0)
    )
    relation("allocation", "H09",
        Incidence("planner", "demand", "demand", 0),
        Incidence("capacity", "supply", "supply", 1),
        Incidence("mission", "assignment", "assignment", 2)
    )
}

Robotic fleet: sensor fusion, native kernels and clock domains

How are measurements from different clocks combined?

Inspect this design · Definition JSON · revision dfacbbe033ef

Marker	Meaning in this diagram
⚙ N15	Device / platform adapter
≈ N07	Stream operator
◆ N16	Native resource / engine
▰ N21	Database / state authority
⌕ N22	Query / materialized view
≋ P06	Credit-controlled stream
◎ P24	Inspection / evidence
⇆ P02	Request / response
Δ P09	Mutation / conditional update
○ P01	Value / immutable snapshot
→ H02	Value flow
⇆ H05	Request / reply binding
◷ H31	Clock / time alignment

Logic and ownership

Kotlin selects an aligned sample window and invokes a qualified native kernel. Pose estimates retain covariance and source timestamps.

Failure and qualification

A timestamp field alone does not establish a common clock or bounded drift.
Drop, extrapolate or mark stale samples according to an explicit fusion policy.
Native buffer ownership and device deadlines remain local even when fleet telemetry is remote.

Hyperedge roles

Relation	Pattern	Participants, preserving role positions
lidar	H02 — Value flow {#h02--value-flow}	provider[0]: lidar.sample; consumer[0]: align.lidar
imu	H02 — Value flow {#h02--value-flow}	provider[0]: imu.sample; consumer[0]: align.imu
fuse	H05 — Request / reply binding {#h05--request--reply-binding}	provider[0]: fusion.compute; consumer[0]: align.kernel
pose	H02 — Value flow {#h02--value-flow}	provider[0]: fusion.pose; consumer[0]: pose.update
publish	H02 — Value flow {#h02--value-flow}	provider[0]: pose.snapshot; consumer[0]: fleet.pose
time	H31 — Clock / time alignment {#h31--clock--time-alignment}	lidarClock[0]: lidar.clock; imuClock[1]: imu.clock; alignment[2]: align.policy

Kotlin common declaration

graphDefinition("robot-localization", "dfacbbe033effb48f24871959b0d63e24d4975710abc57260e01495a8c739d80") {
    region("fleet", "Fleet coordination")
    region("robot", "Robot-local execution")
    node("lidar", "Lidar adapter", "N15", "robot", ports = listOf(
        PortDefinition("sample", "P06", "LidarSampleV1", PortPolarity.Offer),
        PortDefinition("clock", "P24", "ClockRefV1", PortPolarity.Neutral)
    ))
    node("imu", "IMU adapter", "N15", "robot", ports = listOf(
        PortDefinition("sample", "P06", "ImuSampleV1", PortPolarity.Offer),
        PortDefinition("clock", "P24", "ClockRefV1", PortPolarity.Neutral)
    ))
    node("align", "Clock alignment", "N07", "robot", ports = listOf(
        PortDefinition("lidar", "P06", "LidarSampleV1", PortPolarity.Require),
        PortDefinition("imu", "P06", "ImuSampleV1", PortPolarity.Require),
        PortDefinition("kernel", "P02", "FusionStepV1", PortPolarity.Require),
        PortDefinition("policy", "P24", "TimeAlignmentV1", PortPolarity.Neutral)
    ))
    node("fusion", "Native fusion kernel", "N16", "robot", ports = listOf(
        PortDefinition("compute", "P02", "FusionStepV1", PortPolarity.Offer),
        PortDefinition("pose", "P09", "PoseEstimateV1", PortPolarity.Offer)
    ))
    node("pose", "Pose authority", "N21", "robot", ports = listOf(
        PortDefinition("update", "P09", "PoseEstimateV1", PortPolarity.Require),
        PortDefinition("snapshot", "P01", "PoseSnapshotV1", PortPolarity.Offer)
    ))
    node("fleet", "Fleet pose subscriber", "N22", "fleet", ports = listOf(
        PortDefinition("pose", "P01", "PoseSnapshotV1", PortPolarity.Require)
    ))
    relation("lidar", "H02",
        Incidence("lidar", "sample", "provider", 0),
        Incidence("align", "lidar", "consumer", 0)
    )
    relation("imu", "H02",
        Incidence("imu", "sample", "provider", 0),
        Incidence("align", "imu", "consumer", 0)
    )
    relation("fuse", "H05",
        Incidence("fusion", "compute", "provider", 0),
        Incidence("align", "kernel", "consumer", 0)
    )
    relation("pose", "H02",
        Incidence("fusion", "pose", "provider", 0),
        Incidence("pose", "update", "consumer", 0)
    )
    relation("publish", "H02",
        Incidence("pose", "snapshot", "provider", 0),
        Incidence("fleet", "pose", "consumer", 0)
    )
    relation("time", "H31",
        Incidence("lidar", "clock", "lidarClock", 0),
        Incidence("imu", "clock", "imuClock", 1),
        Incidence("align", "policy", "alignment", 2)
    )
}