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📜 R2R Protocol Specification

🧾 Overview

This document defines the Robot-to-Robot (R2R) Communication Protocol, a lightweight standard for structured communication between autonomous robotic agents.

📡 Message Format

All messages follow a consistent structure:

{
  "header": {
    "version": "1.0",
    "timestamp": 1718000000,
    "source_id": "robot_001",
    "target_id": "robot_002"
  },
  "type": "status/task_request/task_response/command/negotiation/error",
  "payload": { ... }
}

Header Fields

Field Description
version Protocol version (e.g., "1.0")
timestamp Unix timestamp (seconds)
source_id Unique ID of sending robot
target_id Optional: intended recipient

Message Types

Type Purpose
status Health, battery, position, task progress
task_request Request another robot to perform an action
task_response Accept/decline a task request
negotiation Used in collaborative task allocation
command Direct control command from one robot to another
error Communicates errors during execution

💬 Example Use Cases

1. Status Broadcast

{
  "header": {
    "version": "1.0",
    "timestamp": 1718000000,
    "source_id": "robot_001"
  },
  "type": "status",
  "payload": {
    "battery": 85,
    "position": {"x": 10.2, "y": 5.1},
    "task_progress": 0.75
  }
}

2. Task Request

{
  "header": {
    "version": "1.0",
    "timestamp": 1718000001,
    "source_id": "bot_01",
    "target_id": "bot_02"
  },
  "type": "task_request",
  "payload": {
    "task_id": "T001",
    "description": "Pick up item at location (3.4, 6.7)",
    "deadline": 1718000100
  }
}

3. Task Response

{
  "header": {
    "version": "1.0",
    "timestamp": 1718000002,
    "source_id": "bot_02",
    "target_id": "bot_01"
  },
  "type": "task_response",
  "payload": {
    "task_id": "T001",
    "accepted": true,
    "estimated_time": 45
  }
}

🔐 Authentication (Optional)

Robots may authenticate each other using:

  • Shared tokens

  • Public-key cryptography

  • TLS mutual authentication

🔄 Task Negotiation

Supports auction-style bidding or consensus-based task allocation.

Example negotiation payload:

{
  "type": "negotiation",
  "payload": {
    "task_id": "T002",
    "action": "bid",
    "cost": 30,
    "capabilities": ["arm", "camera"]
  }
}

📦 Transport Layer

Supported transports:

  • TCP/IP
  • UDP
  • MQTT
  • WebSocket
  • ROS2 (optional integration)

⚠️ Error Handling

Standardized error codes:

Code Description
100 Invalid message format
101 Unknown target robot
102 Task already assigned
103 Unauthorized access
104 Network timeout

🧱 Extension Mechanism

New message types and payloads can be added as long as they follow the base schema. Implementations should ignore unknown fields

📌 Future Roadmap

  • Integration with ROS2
  • Web interface for monitoring swarms
  • Simulation support (Gazebo, Unity Robotics)
  • Edge computing support (fleet-wide AI coordination)
  • Enhanced security features for data transmission
  • Improved error handling mechanisms

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