Avoid Deadlocks

A Rust-based coordination prototype for collision avoidance among agents following predefined paths.

A centralized monitor receives agent state over RabbitMQ, detects geometric intersections, and instructs agents to stop or resume. A REST API exposes the monitor's current view of each agent.

Architecture

Robot 1 ----\
Robot 2 -----\       RabbitMQ       +-------------------+
Robot 3 ------+--------------------->| Collision monitor |
Robot 4 -----/                       +---------+---------+
                                                |
                                                v
                                          REST state API

Components

• monitor — ingests state updates, detects collisions, and publishes control actions
• robot — simulates an agent moving on a predefined route
• execution_scripts — Docker and RabbitMQ setup/cleanup scripts

Assumptions

• Agents are represented as rectangles.
• Paths are predetermined.
• A collision is a geometric intersection between two agent rectangles.
• Supported control actions are Stop and Resume.

Run

Prerequisites:

• Rust
• Docker
• Docker Compose v2

cd execution_scripts
chmod +x run.sh cleanup.sh
./run.sh

Query a robot:

curl http://localhost:9000/state/robot1

Clean up:

./cleanup.sh

Tests

cd monitor
cargo test

Current Limitations

• Central monitor is a single coordination point.
• Configuration is currently optimized for four agents.
• Agent generation/configuration should be automated for larger simulations.
• Network delays, stale state, monitor failure, and conflicting control messages require additional handling.
• This is a coordination experiment, not a certified robotics safety controller.