{ "projectName": "Auth-Governed Swarm Testbed", "approach": "## Overview\n\nThe \"Auth-Governed Swarm Testbed\" project develops autonomous robots designed for contested environments, featuring hierarchical authority control (HMAA), sensor spoofing resilience, and programmable authority degradation. Key subsystems include a robust power delivery network, dual-MCU compute for redundancy and control, comprehensive sensing for navigation and threat detection, and secure communication/authentication modules.\n\n## Assumptions\n\n* **Power Source:** Robot_battery_3s_lipo provides primary 11.1V power. Central_power_supply is external and only for central RF.\n* **Environment:** Operation in an indoor, controlled testbed with potential for RF interference and physical obstacles.\n* **Skill Level:** Familiarity with Raspberry Pi, ESP32, basic electronics, 3D printing, and mechanical assembly.\n* **Software:** Firmware and OS images for RPi5 and ESP32 are pre-developed or readily available for flashing.\n* **Tools:** Standard electronics tools (soldering iron, multimeter), 3D printer, basic mechanical tools.\n\n## Action Items\n\n- [ ] Print all 3D-printed mechanical components (esp32_mount, battery_holder, camera_mount, rf_antenna_mount, cable_clip_guide, rpi5_mount, lidar_mount).\n- [ ] Assemble the robot chassis: Attach robot_drive_wheel and robot_caster_wheel to robot_base_plate with dc_motor_mounts.\n- [ ] Mount robot_left_motor_high_torque and robot_right_motor_high_torque to dc_motor_mounts.\n- [ ] Install robot_rpi5 and robot_esp32 onto their respective mounts and secure to robot_base_plate or robot_top_plate using m3_standoffs and m3_bolts.\n- [ ] Integrate power delivery: Wire robot_battery_3s_lipo through robot_estop_button to robot_motor_power_regulator and robot_ubec_power_converter_high_capacity.\n- [ ] Connect robot_motor_power_regulator to robot_motor_driver_high_power, then connect the motor driver to robot_left_motor_high_torque and robot_right_motor_high_torque.\n- [ ] Connect robot_ubec_power_converter_high_capacity to robot_rpi5, robot_esp32, robot_imu_upgrade, and robot_camera_upgrade.\n- [ ] Wire all sensors (robot_lidar, robot_wheel_encoder, robot_tof_sensor, robot_imu_upgrade, robot_camera_upgrade) to robot_rpi5 or robot_esp32 according to specifications.\n- [ ] Connect communication modules: robot_lora_radio_900mhz to robot_rpi5 (SPI, GPIO) and robot_esp32 (SPI).\n- [ ] Implement secure elements and logging: Connect robot_secure_element and robot_logging_storage to robot_rpi5 (I2C/SPI respectively).\n- [ ] Integrate watchdog timer: Connect robot_watchdog to robot_rpi5 (RESET→RUN) and robot_esp32 (GPIO→WDI).\n- [ ] Perform initial power-on and connectivity tests for all modules.\n\n## Assembly Key Points\n\n* **robot_base_plate * robot_drive_wheel, robot_caster_wheel:** Ensure smooth rotation and proper alignment for drive mechanisms.\n* **robot_rpi5 * rpi5_mount:** Securely attach to prevent vibration-induced disconnections.\n* **robot_esp32 * esp32_mount:** Position to allow easy access to pins for wiring.\n* **robot_battery_3s_lipo * battery_holder:** Snug fit to prevent battery movement, consider vibration dampening.\n* **robot_estop_button * Power Regulators:** Critical safety interlock; ensure correct NC wiring to cut power to motors and primary logic.\n* **robot_motor_driver_high_power * robot_left/right_motor_high_torque:** Verify correct motor polarity for intended direction.\n* **robot_ubec_power_converter_high_capacity * various electrical components:** Verify 5V output stability and capacity for all connected devices.\n* **robot_rpi5 * robot_lidar:** USB connection for high data rate; ensure cable routing avoids mechanical interference.\n* **robot_rpi5 * robot_tof_sensor, robot_imu_upgrade, robot_secure_element:** I2C bus wiring requires correct SDA/SCL connections and proper pull-up resistors (if not integrated).\n* **robot_rpi5 * robot_camera_upgrade:** CSI connector is delicate; ensure careful insertion.\n* **robot_rpi5 * robot_logging_storage, robot_lora_radio_900mhz:** SPI bus connections (MOSI, MISO, SCK, CS) need correct pin assignments.\n* **robot_esp32 * robot_wheel_encoder:** GPIO for interrupt-driven counting; verify appropriate pull-ups or debouncing if needed.\n* **robot_esp32 * robot_motor_driver_high_power:** PWM signals for motor control; ensure correct frequency and duty cycle range.\n* **robot_esp32 * robot_lora_radio_900mhz:** SPI for radio communication.\n* **robot_watchdog * robot_rpi5, robot_esp32:** WDI (Watchdog Input) from ESP32, RESET to RPi5 RUN pin; critical for system robustness.\n* **robot_watchdog * robot_motor_driver_high_power:** DRV/DONE to ENABLE ensures motors are disabled on watchdog trigger.\n* **Cable Management:** Utilize cable_clip_guide to secure and organize wiring, preventing entanglement or damage.", "nodes": [ { "id": "robot_esp32", "name": "Robot MCU (ESP32)", "type": "mcu", "category": "electrical", "quantity": 1, "estimatedCost": 8, "purchaseUrl": "https://www.amazon.com/s?k=esp32+devkit+board", "description": "Local controller for robot sensors and actuators, handles local autonomy.", "dimensions": "55x28x12mm", "pins": [ "GPIO2", "GPIO4", "GPIO5", "GPIO12", "GPIO13", "GPIO14", "GPIO15", "GPIO16", "GPIO17", "GPIO18", "GPIO19", "GPIO21", "GPIO22", "GPIO23", "3V3", "5V", "GND", "TX", "RX" ], "productName": "ESP32-DevKitC-32D", "amazonUrl": "https://www.amazon.com/s?k=ESP32-DevKitC-32D&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/xiIbA2ZGDyY3Y981KNnsBVIQYZlEycKSjLzKdNQNmi8/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9tLm1l/ZGlhLWFtYXpvbi5j/b20vaW1hZ2VzL0kv/ODExNmhKZ0NIRVMu/anBn" }, { "id": "robot_rpi5", "name": "Robot Main Compute (RPi 5)", "type": "mcu", "category": "electrical", "quantity": 1, "estimatedCost": 80, "purchaseUrl": "https://www.raspberrypi.com/products/raspberry-pi-5/", "productName": "Raspberry Pi 5 8GB", "amazonUrl": "https://www.amazon.com/s?k=Raspberry%20Pi%205%208GB&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/4Mz6zS9HLomGVxSZc-cAn6e_TbjCuybhfzUPwbqPBOY/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9pLmV4/dHJlbWV0ZWNoLmNv/bS9pbWFnZXJ5L2Nv/bnRlbnQtdHlwZXMv/MDI1OUFxcmhZbmlh/cEpmRTE0YUFXVFQv/aGVyby1pbWFnZS5m/aXRfbGltLnYxNzM2/MTgyMDM1LmpwZw" }, { "id": "robot_lidar", "name": "Robot LiDAR Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 99, "purchaseUrl": "https://www.slamtec.com/en/Lidar/A1", "productName": "Slamtec RPLIDAR A1M8", "amazonUrl": "https://www.amazon.com/s?k=Slamtec%20RPLIDAR%20A1M8&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/f1_GbX5j69G3lpldvgBapB77LP46zSBeHhkDiTNDoYY/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9pbWFn/ZS5tYWRlLWluLWNo/aW5hLmNvbS8xNTVm/MGowMGJnQW9ObkdN/d3d1bC9TbGFtdGVj/LVJwbGlkYXItQXZv/aWRzLU9ic3RhY2xl/cy1TbGFtLU5hdmln/YXRpb24tTGlkYXIt/QTFtOC1IaWdoLVNw/ZWVkLVNjYW5uZXIt/S2l0LXdpdGgtMTJt/LVJhbmdpbmctZm9y/LVJvcy1Sb2JvdGlj/cy53ZWJw" }, { "id": "robot_wheel_encoder", "name": "Robot Wheel Encoder", "type": "sensor", "category": "electrical", "quantity": 2, "estimatedCost": 7.5, "purchaseUrl": "https://www.pololu.com/product/4760", "productName": "Magnetic Encoder Pair Kit for Micro Metal Gearmotors, 12 CPR, 2.7-18V", "amazonUrl": "https://www.amazon.com/s?k=Magnetic%20Encoder%20Pair%20Kit%20for%20Micro%20Metal%20Gearmotors%2C%2012%20CPR%2C%202.7-18V&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/iCg3by_dof2H2CyggOwXLvu_XhB-Y_98DzUGM0xKLhE/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly93d3cu/ZGlyZW5jLm5ldC9t/YW55ZXRpay1lbmNv/ZGVyLXRha2ltaS1w/b2xvbHUtMzA4MS1l/bi1yb2JvdGlrLXRl/a2VybGVrLXBvbG9s/dS0xNjcwMS01OS1C/LmpwZw" }, { "id": "robot_tof_sensor", "name": "Robot ToF Ranging Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 12.95, "purchaseUrl": "https://www.adafruit.com/product/3967", "description": "VL53L1X Time of Flight sensor for close-range obstacle detection and complementing the LiDAR sensor.", "pins": [ "VIN", "GND", "SDA", "SCL" ], "productName": "Adafruit VL53L1X Time of Flight Distance Sensor", "amazonUrl": "https://www.amazon.com/s?k=Adafruit%20VL53L1X%20Time%20of%20Flight%20Distance%20Sensor&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/F29otHczx6_UeDVdRzY3f-nyZXizO2ibT8c8nwyjjUo/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9jZG4t/c2hvcC5hZGFmcnVp/dC5jb20vOTcweDcy/OC8zMzE3LTE1Lmpw/Zw" }, { "id": "robot_watchdog", "name": "Robot Watchdog Timer", "type": "module", "category": "electrical", "quantity": 1, "estimatedCost": 7.5, "purchaseUrl": "https://www.sparkfun.com/products/14959", "description": "Hardware watchdog timer to ensure system stability and trigger recovery actions if the main compute hangs.", "pins": [ "VCC", "GND", "WDI", "RESET" ], "productName": "SparkFun TPL5110 Nano Power Timer", "amazonUrl": "https://www.amazon.com/s?k=SparkFun%20TPL5110%20Nano%20Power%20Timer&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": 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"sourcePin": "GPIO", "targetPin": "CE" }, { "source": "robot_rpi5", "target": "robot_lora_radio_900mhz", "type": "data", "protocol": "GPIO", "sourcePin": "GPIO", "targetPin": "IRQ" }, { "source": "robot_estop_button", "target": "robot_motor_power_regulator", "type": "power", "label": "E-Stop to Motor Regulator", "sourcePin": "NC_OUT", "targetPin": "VIN", "voltage": "11.1V" }, { "source": "robot_battery_3s_lipo", "target": "robot_ubec_power_converter_high_capacity", "type": "power", "label": "Battery to UBEC", "sourcePin": "V+", "targetPin": "VIN+", "voltage": "11.1V" }, { "source": "robot_esp32", "target": "robot_wheel_encoder", "type": "power", "label": "Encoder Power", "sourcePin": "3.3V", "targetPin": "VCC", "voltage": "3.3V" }, { "source": "robot_esp32", "target": "robot_watchdog", "type": "data", "label": "Watchdog Heartbeat", "sourcePin": "GPIO", "targetPin": "WDI" }, { "source": "robot_rpi5", "target": "robot_secure_element", "type": "data", "protocol": "I2C", "sourcePin": "SDA", "targetPin": "SDA" }, { "source": "robot_rpi5", "target": "robot_secure_element", "type": "data", "protocol": "I2C", "sourcePin": "SCL", "targetPin": "SCL" }, { "source": "robot_rpi5", "target": "robot_secure_element", "type": "power", "voltage": "3.3V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_imu_upgrade", "type": "power", "voltage": "5V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_camera_upgrade", "type": "power", "voltage": "5V" }, { "source": "robot_rpi5", "target": "robot_imu_upgrade", "type": "data", "label": "I2C SDA", "protocol": "I2C", "sourcePin": "SDA", "targetPin": "SDA" }, { "source": "robot_rpi5", "target": "robot_imu_upgrade", "type": "data", "label": "I2C SCL", "protocol": "I2C", "sourcePin": "SCL", "targetPin": "SCL" }, { "source": "robot_rpi5", "target": "robot_camera_upgrade", "type": "data", "label": "Video Data", "protocol": "CSI", "sourcePin": "CSI Port", "targetPin": "CSI Port" }, { "source": "robot_battery_3s_lipo", "target": "robot_estop_button", "type": "power", "label": "Motor Power In", "sourcePin": "V+", "targetPin": "NC_IN", "voltage": "11.1V" }, { "source": "robot_estop_button", "target": "robot_motor_power_regulator", "type": "power", "label": "Motor Power Switched", "sourcePin": "NC_OUT", "targetPin": "VIN", "voltage": "11.1V" }, { "source": "robot_motor_power_regulator", "target": "robot_motor_driver_high_power", "type": "power", "label": "Regulated Motor Power", "sourcePin": "VOUT", "targetPin": "VIN", "voltage": "12V" }, { "source": "robot_motor_driver_high_power", "target": "robot_left_motor_high_torque", "type": "power", "label": "Left Motor Power" }, { "source": "robot_motor_driver_high_power", "target": "robot_right_motor_high_torque", "type": "power", "label": "Right Motor Power" }, { "source": "robot_battery_3s_lipo", "target": "robot_ubec_power_converter_high_capacity", "type": "power", "label": "System Power In", "sourcePin": "V+", "targetPin": "VIN+", "voltage": "11.1V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_rpi5", "type": "power", "label": "RPi 5V Power", "sourcePin": "5V OUT", "targetPin": "5V", "voltage": "5V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_esp32", "type": "power", "label": "ESP32 5V Power", "sourcePin": "5V OUT", "targetPin": "5V", "voltage": "5V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_imu_upgrade", "type": "power", "label": "IMU 5V Power", "sourcePin": "5V OUT", "targetPin": "VIN", "voltage": "5V" }, { "source": "robot_ubec_power_converter_high_capacity", "target": "robot_camera_upgrade", "type": "power", "label": "Camera 5V Power", "sourcePin": "5V OUT", "targetPin": "5V", "voltage": "5V" }, { "source": "robot_rpi5", "target": "robot_tof_sensor", "type": "power", "label": "ToF 5V Power", "sourcePin": "5V", "targetPin": "VIN", "voltage": "5V" }, { "source": "robot_rpi5", "target": "robot_logging_storage", "type": "power", "label": "Logger 5V Power", "sourcePin": "5V", "targetPin": "VCC", "voltage": "5V" }, { "source": "robot_rpi5", "target": "robot_lora_radio_900mhz", "type": "power", "label": "LoRa 3.3V Power", "sourcePin": "3.3V", "targetPin": "VIN", "voltage": "3.3V" }, { "source": "robot_rpi5", "target": "robot_watchdog", "type": "power", "label": "Watchdog 3.3V Power", "sourcePin": "3.3V", "targetPin": "VIN", "voltage": "3.3V" }, { "source": "robot_rpi5", "target": "robot_secure_element", "type": "power", "label": "Secure Element 3.3V Power", "sourcePin": "3.3V", "targetPin": "VCC", "voltage": "3.3V" }, { "source": "robot_esp32", "target": "robot_wheel_encoder", "type": "power", "label": "Encoder 3.3V Power", "sourcePin": "3.3V", "targetPin": "VCC", "voltage": "3.3V" }, { "source": "robot_rpi5", "target": "robot_esp32", "type": "data", "label": "Command Packets", "protocol": "UART" }, { "source": "robot_rpi5", "target": "robot_esp32", "type": "data", "label": "Time Sync", "sourcePin": "GPIO_Sync", "targetPin": "GPIO_Sync_In" }, { "source": "robot_rpi5", "target": "robot_lidar", "type": "data", "label": "LiDAR Data", "protocol": "USB" }, { "source": "robot_rpi5", "target": "robot_tof_sensor", "type": "data", "label": "ToF Data", "protocol": "I2C", "sourcePin": "SDA/SCL", "targetPin": "SDA/SCL" }, { "source": "robot_rpi5", "target": "robot_imu_upgrade", "type": "data", "label": "IMU Data", "protocol": "I2C", "sourcePin": "SDA/SCL", "targetPin": "SDA/SCL" }, { "source": "robot_rpi5", "target": "robot_secure_element", "type": "data", "label": "Secure Element Data", "protocol": "I2C", "sourcePin": "SDA/SCL", "targetPin": "SDA/SCL" }, { "source": "robot_rpi5", "target": "robot_camera_upgrade", "type": "data", "label": "Camera Data", "protocol": "CSI" }, { "source": "robot_rpi5", "target": "robot_logging_storage", "type": "data", "label": "Logging Data", "protocol": "SPI", "sourcePin": "MOSI, MISO, SCK, CS" }, { "source": "robot_rpi5", "target": "robot_lora_radio_900mhz", "type": "data", "label": "LoRa Data", "protocol": "SPI", "sourcePin": "MOSI, MISO, SCK, CS" }, { "source": "robot_rpi5", "target": "robot_lora_radio_900mhz", "type": "data", "label": "LoRa Control", "sourcePin": "GPIO", "targetPin": "CE, IRQ" }, { "source": "robot_esp32", "target": "robot_imu_upgrade", "type": "data", "label": "IMU Secondary Access", "protocol": "I2C" }, { "source": "robot_esp32", "target": "robot_camera_upgrade", "type": "data", "label": "Camera Secondary Access", "protocol": "DVP" }, { "source": "robot_esp32", "target": "robot_wheel_encoder", "type": "data", "label": "Encoder Pulses", "sourcePin": "GPIO" }, { "source": "robot_esp32", "target": "robot_motor_driver_high_power", "type": "data", "label": "Motor Speed/Direction", "protocol": "PWM" }, { "source": "robot_esp32", "target": "robot_lora_radio_900mhz", "type": "data", "label": "LoRa Secondary Access", "protocol": "SPI" }, { "source": "robot_esp32", "target": "robot_watchdog", "type": "data", "label": "Watchdog Heartbeat", "sourcePin": "GPIO", "targetPin": "WDI" }, { "source": "robot_watchdog", "target": "robot_motor_driver_high_power", "type": "data", "label": "Motor Driver Enable", "sourcePin": "DRV/DONE", "targetPin": "ENABLE" }, { "source": "robot_watchdog", "target": "robot_rpi5", "type": "data", "label": "System Reset", "sourcePin": "RESET", "targetPin": "RUN" } ], "mechanicalConnections": [], "projectDescription": "The \"Auth-Governed Swarm Testbed\" project develops autonomous robots designed for contested environments, featuring hierarchical authority control (HMAA), sensor spoofing resilience, and programmable authority degradation. Key subsystems include a robust power delivery network, dual-MCU compute for redundancy and control, comprehensive sensing for navigation and threat detection, and secure communication/authentication modules.", "originalPrompt": "Authority-Governed Autonomous Systems Testbed (Best Fit)\n4\nConcept\n\nBuild a physical testbed where autonomous robots operate under HMAA authority control.\n\nInstead of normal autonomy, every decision must pass through your authority and trust layers.\n\nArchitecture\nSensors\n ↓\nSATA trust evaluation\n ↓\nHMAA authority engine\n ↓\nMission autonomy planner\n ↓\nCARA recovery logic\n ↓\nRobot / drone actuation\nWhat it demonstrates\n\nsensor spoofing resilience\n\nautonomy authority degradation\n\nsafe recovery after failures\n\nmission control under uncertainty\n\nWhy NASA / DoD care\n\nAutonomous systems today lack formal authority governance.\n\nYour platform would show:\n\n“Autonomy that can be trusted in contested environments.”", "plan": "- Microcontroller: ESP32 or Raspberry Pi for HMAA authority engine and mission autonomy planner, Arduino for sensor/actuator control.", "notes": [ "Autonomous robots", "HMAA authority control", "Contested environments", "Sensor spoofing resilience", "Autonomy authority degradation" ], "projectId": "de469722-b0cf-4814-b44a-76dbf8706b36" }