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Duckietown Appearance Specification

Modified 2018-06-22 by Andrea Censi

This document describes the Duckietown specification. These are a set of rules for which a functional system has been verified.

Any Duckietown not adhering to the rules described here cannot call itself a “Duckietown”, since it is not one.

Additionally, any Duckietown not adhering to these rules may cause the Duckiebots to fail in unexpected ways.

Traffic Signs

Modified 2018-06-24 by Andrea Censi

To print and assemble the signs refer to Unit A-3 - Signage.

Placement

Modified 2018-06-22 by Andrea Censi

Modified 2018-06-24 by Andrea Censi

Signs may appear on the opposite side and at the corner of the adjacent tile from which they are viewed. In the absence of any signs, it is assumed that all network flows are allowed so a sign MUST be placed and visible whenever this is not the case.

Signs must only be placed on empty tiles, or next to one of the other tile types if on the border of a map. The sign placements for four different cases are shown in Figure 2.16. At intersections, from each stop line 2 signs should be clearly visible: 1) the intersection type (traffic light or stop sign) and 2) the intersection topology.

At present, 4-way intersections must be equipped with traffic lights for safe navigation.

4-way intersection
3-way intersection
straight road
curved road
Placement of Traffic Signs

On straight and curved roads, additional signs can be added as desired. Their placement is indicated in Figure 2.16f - straight road and Figure 2.16h - curved road. The signs should be placed at the border between two tiles and should face towards oncoming traffic as indicated.

In these figures the arrow is the direction of the sign.

Street Name Signs

Modified 2018-06-22 by Andrea Censi

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