Traffic Configuration¶

Configuration for traffic management and congestion handling.

Schema¶

traffic:
  policy: <string>                 # Default: "wait_at_node"
  edge_capacity_default: <integer> # Default: 1
  node_capacity_default: <integer> # Default: 1
  wait_threshold_s: <float>       # Default: 2.0
  max_reroute_attempts: <integer> # Default: 3
  deadlock_detection: <boolean>   # Default: false
  deadlock_resolver: <string>     # Default: "youngest_backs_up"
  deadlock_check_interval_s: <float> # Default: 0
  reservation_enabled: <boolean>  # Default: false
  reservation_lookahead_s: <float> # Default: 30.0

Traffic Policy¶

wait_at_node¶

Robots wait at current node when path is blocked.

traffic:
  policy: wait_at_node

Behavior: Simple waiting, no rerouting Best for: Low traffic scenarios, testing

reroute_on_wait¶

Robots attempt to find alternate paths when blocked.

traffic:
  policy: reroute_on_wait
  wait_threshold_s: 2.0
  max_reroute_attempts: 3

Behavior: Wait briefly, then try alternate route Best for: High traffic scenarios

adaptive_traffic¶

Dynamically adjusts behavior based on congestion.

traffic:
  policy: adaptive_traffic

Behavior: Combines waiting and rerouting based on conditions Best for: Variable traffic scenarios

Capacity Settings¶

edge_capacity_default¶

Type: integer Default: 1

Maximum robots on an edge simultaneously.

traffic:
  edge_capacity_default: 2  # Allow 2 robots on each edge

node_capacity_default¶

Type: integer Default: 1

Maximum robots at a node simultaneously.

traffic:
  node_capacity_default: 2

Note: Station nodes may have higher effective capacity based on station concurrency.

Rerouting Parameters¶

wait_threshold_s¶

Type: float Default: 2.0

Seconds to wait before attempting reroute.

traffic:
  policy: reroute_on_wait
  wait_threshold_s: 3.0  # Wait 3 seconds before rerouting

max_reroute_attempts¶

Type: integer Default: 3

Maximum reroute attempts before giving up.

traffic:
  max_reroute_attempts: 5

Deadlock Detection¶

deadlock_detection¶

Type: boolean Default: false

Enable deadlock detection.

traffic:
  deadlock_detection: true

deadlock_resolver¶

Type: string Default: "youngest_backs_up" Options: youngest_backs_up, lowest_priority_aborts, wait_and_retry, tiered

Strategy for resolving detected deadlocks.

traffic:
  deadlock_detection: true
  deadlock_resolver: youngest_backs_up

Resolver	Description
`youngest_backs_up`	Most recently assigned robot backs up
`lowest_priority_aborts`	Lowest priority task aborts
`wait_and_retry`	Wait and retry with jitter
`tiered`	Combined approach

deadlock_check_interval_s¶

Type: float Default: 0 (only check on wait)

Interval for periodic deadlock checks.

traffic:
  deadlock_detection: true
  deadlock_check_interval_s: 5.0  # Check every 5 seconds

Reservation System¶

reservation_enabled¶

Type: boolean Default: false

Enable path reservation system.

traffic:
  reservation_enabled: true

reservation_lookahead_s¶

Type: float Default: 30.0

Seconds to look ahead when reserving path.

traffic:
  reservation_enabled: true
  reservation_lookahead_s: 20.0

Complete Examples¶

Simple Traffic¶

traffic:
  policy: wait_at_node
  edge_capacity_default: 1
  node_capacity_default: 1

Medium Traffic¶

traffic:
  policy: reroute_on_wait
  edge_capacity_default: 1
  node_capacity_default: 1
  wait_threshold_s: 2.0
  max_reroute_attempts: 3

High Traffic¶

traffic:
  policy: reroute_on_wait
  edge_capacity_default: 2
  node_capacity_default: 2
  wait_threshold_s: 1.5
  max_reroute_attempts: 5
  deadlock_detection: true
  deadlock_resolver: youngest_backs_up

Reservation-Based¶

traffic:
  policy: wait_at_node
  edge_capacity_default: 1
  node_capacity_default: 1
  deadlock_detection: true
  deadlock_resolver: tiered
  reservation_enabled: true
  reservation_lookahead_s: 25.0

Configuration Guidelines¶

Capacity Selection¶

Robot Density	Edge Capacity	Node Capacity
Low (< 0.1 robot/node)	1	1
Medium (0.1-0.3)	1-2	1-2
High (> 0.3)	2-3	2-3

When to Enable Deadlock Detection¶

Many robots in small area
Complex map topology
Observing stuck robots

When to Use Reservations¶

Predictable paths
Time-critical operations
Avoiding conflicts proactively