How it works

Each robot makes two choices: which task to work on, and what to share with its neighbors.

Follow one robot

Swarm Lab with R001 selected. Its inspector says it is approaching task T1, known from local sensing.
R001 has sensed T1 and is heading toward it. The inspector explains why. This is a recorded simulator snapshot, not a benchmark. View full screenshot ↗
  1. 1. Find outHere, R001 discovers T1 through its own sensing. A robot can also learn about a task from a delivered message.
  2. 2. Choose workR001 picks T1 from its known tasks. The inspector shows its reason: “Approaching T1, known from local sensing.”
  3. 3. Pass it onThe sharing rule decides whether to send an update. A nearby robot learns from it only if the message is delivered and accepted.
Who controls what in the proposed Node

In the proposed Node, ECITON-R suggests tasks and handles communication. The host robot controls navigation, motors, obstacle avoidance, and safety.

Responsibility map

Follow either path to see what ECITON-R handles and where its authority ends.

Host robotRobot retains authority
Permitted observation enters
Navigation and safety stay here
Robot may accept or reject task intent
ECITON-R nodeBounded decisions
Adapter translates observation
Two independent choices
Task preference
Check task intent
Communication action
Check message
NetworkTransport and reach
Choose an available radio
Nearby nodes receive and validate
  1. Host robotPermitted observation

    The route ahead is blocked.

  2. ECITON-R nodeAdapter translates it

    Only the approved observation enters the shared format.

  3. ECITON-R nodeTask preference

    A different useful task is suggested.

  4. ECITON-R nodeCheck task intent

    Unsupported, stale, or unsafe intent is blocked.

  5. Host robotAccept or reject

    Navigation and safety software keep final authority.

Trace task intent

Example: A robot reports that its route ahead is blocked.

What enters
A permitted observation says that the current route is blocked.
What ECITON-R decides
It forms a task preference and checks that the intent is supported, current, and within bounds.
What leaves
A high-level task intent returns to the host robot. It is not a movement command.
What can stop it
Deterministic checks can block the intent. The host robot may still reject or ignore it.

Try this yourself: select a robot, open its inspector, then turn on Robot knowledge. Unknown tasks disappear from its view. Turn sharing off to explore what it can find on its own.

Open the full workspace →

Explore the Node components
Robot adapter
Translates approved robot data into a shared format and returns high-level task suggestions.
Decision logic
Chooses a useful task and decides whether sending a message would help.
Protocol services
Checks identity, permissions, message versions, expiry, duplicates, and coordinator terms.
Message router
Builds a message with a purpose, priority, forwarding rule, and expiry time.
Transport manager
Chooses an available connection after the message passes its checks.
Evidence recorder
Records decisions, messages, delivery results, retries, task events, and run settings.