How ieee01/tsyp_ras_ph1 works
LivingMap is a simulated spatial-memory and mission-continuity system for emergency robots. A Writer explores and records event memories in persistent beacons; a wall-aware mesh relays them through a gateway to the command post, which briefs Executors with inherited memories and map data. Executors prioritize targets, navigate around hazards, and write resolved results back to the beacons. The graph also preserves the live dashboard and the internal planning, protocol, and link-model layers. Relationships among unsampled subsystems follow README statements; source-level evidence is cited where excerpts or the index show it.
Main entry points: living_map_beacons/node.py Beacon manager · living_map_executor/node.py Executor mission · living_map_gateway/node.py Gateway · living_map_link_sim/node.py Long-distance link
Components 23
Writer and sensing
- Writer autonomy
src/living_map_writer/living_map_writer/node.py - Frontier exploration
src/living_map_writer/living_map_writer/frontier.py - Event sensing
src/living_map_events/living_map_events/node.py
Beacon memory
- Beacon manager
src/living_map_beacons/living_map_beacons/node.py - Beacon placement
src/living_map_beacons/living_map_beacons/placement.py - Beacon protocol
src/living_map_beacons/living_map_beacons/protocol.py - Persistent beacon store
src/living_map_beacons/living_map_beacons/store.py - Memory aging
src/living_map_beacons/living_map_beacons/aging.py
Mine communications
- Radio mesh
src/living_map_radio/living_map_radio/mesh.py - RF link model
src/living_map_radio/living_map_radio/model.py - Radio node
src/living_map_radio/living_map_radio/node.py - Gateway
src/living_map_gateway/living_map_gateway/node.py - Gateway state
src/living_map_gateway/living_map_gateway/state.py - GPS translation
src/living_map_gateway/living_map_gateway/coordinate.py - Long-distance link
src/living_map_link_sim/living_map_link_sim/node.py - Link behavior model
src/living_map_link_sim/living_map_link_sim/model.py
Command and briefing
- Command post
src/living_map_command_post/living_map_command_post/scenario.py - Live dashboard
src/living_map_dashboard/web/app.js
Executor response
- Executor mission
src/living_map_executor/living_map_executor/node.py - Beacon graph
src/living_map_executor/living_map_executor/graph.py - Target policy
src/living_map_executor/living_map_executor/policy.py - Route planning
src/living_map_executor/living_map_executor/route.py
Other components
- Demo operator
Connections 24
- Demo operator → Command post: controls demo
- Writer autonomy → Frontier exploration: explores by
- Event sensing → Beacon manager: reports events
src/living_map_beacons/living_map_beacons/node.py - Beacon manager → Beacon placement: uses placement
src/living_map_beacons/living_map_beacons/node.py - Beacon manager → Beacon protocol: encodes frames
src/living_map_beacons/living_map_beacons/node.py - Beacon manager → Persistent beacon store: persists records
src/living_map_beacons/living_map_beacons/node.py - Beacon manager → Memory aging: ages memories
src/living_map_beacons/living_map_beacons/node.py - Beacon manager → Radio node: transmits frames
src/living_map_beacons/living_map_beacons/node.py - Radio node → Radio mesh: relays frames
src/living_map_radio/living_map_radio/node.py - Radio mesh → RF link model: measures links
src/living_map_radio/living_map_radio/mesh.py - Radio node → Gateway: delivers memories
- Gateway → Gateway state: updates state
src/living_map_gateway/living_map_gateway/node.py - Gateway → GPS translation: translates positions
src/living_map_gateway/living_map_gateway/node.py - Gateway → Long-distance link: forwards snapshots
- Long-distance link → Link behavior model: simulates delivery
src/living_map_link_sim/living_map_link_sim/node.py - Long-distance link → Command post: delivers uplink
src/living_map_link_sim/living_map_link_sim/node.py - Command post → Executor mission: briefs targets
- Command post → Live dashboard: shows live state
- Executor mission → Beacon graph: builds graph
src/living_map_executor/living_map_executor/node.py - Executor mission → Target policy: prioritizes targets
src/living_map_executor/living_map_executor/node.py - Executor mission → Route planning: plans route
src/living_map_executor/living_map_executor/node.py - Executor mission → Beacon manager: writes resolutions
- Command post → Long-distance link: sends missions
- Long-distance link → Gateway: delivers downlink
src/living_map_link_sim/living_map_link_sim/node.py