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Robot Configuration

Configuration for the robot fleet.

Schema

robots:
  count: <integer>                 # Required
  max_speed_mps: <float>          # Required
  max_payload_kg: <float>         # Default: 25
  battery: <BatteryConfig>        # Optional
  maintenance: <MaintenanceConfig> # Optional
  failure: <FailureConfig>        # Optional

Basic Fields

count

Type: integer Required: Yes

Number of robots in the fleet.

robots:
  count: 10

Guidelines:

Warehouse Size Typical Robots
Small (< 100 nodes) 5-15
Medium (100-500 nodes) 15-50
Large (500+ nodes) 50-200

max_speed_mps

Type: float Required: Yes

Maximum robot speed in meters per second.

robots:
  max_speed_mps: 1.5  # 1.5 m/s = 5.4 km/h

Typical values:

Robot Type Speed (m/s)
Conservative 0.8-1.2
Standard 1.2-1.8
Fast 1.8-2.5

max_payload_kg

Type: float Default: 25

Maximum payload capacity in kilograms.

robots:
  count: 10
  max_speed_mps: 1.5
  max_payload_kg: 30

Battery Configuration

Enable battery simulation for charging station analysis.

robots:
  count: 10
  max_speed_mps: 1.5
  battery:
    enabled: true
    capacity_wh: 400
    min_soc: 0.15
    consumption:
      per_meter_wh: 0.1
      per_kg_per_meter_wh: 0.01
      idle_power_w: 5.0
      service_power_w: 20.0

battery.enabled

Type: boolean Default: false

Enable battery simulation.

battery.capacity_wh

Type: float Default: 400

Battery capacity in watt-hours.

battery.min_soc

Type: float Default: 0.15

Minimum state of charge (0-1) before robot must charge.

battery:
  min_soc: 0.20  # Robot charges when below 20%

battery.consumption

Power consumption parameters:

Field Default Description
per_meter_wh 0.1 Energy per meter traveled
per_kg_per_meter_wh 0.01 Additional energy per kg payload per meter
idle_power_w 5.0 Power when idle
service_power_w 20.0 Power during service at stations

Maintenance Configuration

Enable scheduled maintenance.

robots:
  count: 10
  max_speed_mps: 1.5
  maintenance:
    enabled: true
    interval_hours: 8.0

maintenance.enabled

Type: boolean Default: false

Enable scheduled maintenance.

maintenance.interval_hours

Type: float Default: 8.0

Hours between scheduled maintenance visits.

maintenance:
  enabled: true
  interval_hours: 4.0  # Maintenance every 4 hours

Failure Configuration

Enable random failures.

robots:
  count: 10
  max_speed_mps: 1.5
  failure:
    enabled: true
    mtbf_hours: 100.0

failure.enabled

Type: boolean Default: false

Enable random failures.

failure.mtbf_hours

Type: float Default: 100.0

Mean Time Between Failures in hours.

failure:
  enabled: true
  mtbf_hours: 50.0  # More frequent failures for testing

MTBF Guidelines:

Reliability MTBF (hours)
High 200+
Normal 80-150
Low (testing) 20-50

Examples

Basic Fleet

robots:
  count: 10
  max_speed_mps: 1.5

Fleet with Battery

robots:
  count: 15
  max_speed_mps: 1.8
  max_payload_kg: 30
  battery:
    enabled: true
    capacity_wh: 500
    min_soc: 0.20
    consumption:
      per_meter_wh: 0.08
      per_kg_per_meter_wh: 0.008
      idle_power_w: 3.0
      service_power_w: 15.0

Fleet with Maintenance

robots:
  count: 20
  max_speed_mps: 1.5
  max_payload_kg: 25
  maintenance:
    enabled: true
    interval_hours: 8.0
  failure:
    enabled: true
    mtbf_hours: 100.0

Full Configuration

robots:
  count: 25
  max_speed_mps: 1.8
  max_payload_kg: 35
  battery:
    enabled: true
    capacity_wh: 600
    min_soc: 0.18
    consumption:
      per_meter_wh: 0.09
      per_kg_per_meter_wh: 0.01
      idle_power_w: 4.0
      service_power_w: 18.0
  maintenance:
    enabled: true
    interval_hours: 6.0
  failure:
    enabled: true
    mtbf_hours: 80.0