/**
 * Robotics Navigation: Adaptive Real-Time Path Planning
 *
 * Use Case: Autonomous robots need real-time similarity search
 * for environment matching and obstacle avoidance.
 *
 * Optimization Priority: BALANCED (latency + accuracy)
 */
export const ROBOTICS_ATTENTION_CONFIG = {
    heads: 8, // Optimal balance (validated)
    forwardPassTargetMs: 10, // 10ms for 100Hz control loop
    batchSize: 4, // Small batches for real-time
    precision: 'float16', // Reduced precision for edge devices
    edgeOptimized: true, // NVIDIA Jetson, Intel NCS optimization
    // Dynamic attention based on environment complexity
    dynamicHeads: {
        enabled: true,
        simple: 4, // 4 heads for simple environments
        complex: 12, // 12 heads for complex scenes
        adaptationStrategy: 'scene-complexity'
    },
    // Dynamic-k based on navigation context
    dynamicK: {
        min: 5,
        max: 20,
        adaptationStrategy: 'obstacle-density' // More obstacles = more candidates
    },
    // Self-healing for continuous operation
    selfHealing: {
        enabled: true,
        adaptationIntervalMs: 100,
        degradationThreshold: 0.05,
        hardwareMonitoring: true // Battery, temperature, GPU
    }
};
// Example: Environment matching for navigation
export async function matchEnvironment(currentSensorData, // LIDAR, camera, IMU
knownEnvironments, // HNSWGraph type
robotContext, applyAttention, analyzeSceneComplexity, calculateObstacleDensity, computePath) {
    const startTime = Date.now();
    const config = ROBOTICS_ATTENTION_CONFIG;
    // Adaptive attention based on scene complexity
    const sceneComplexity = analyzeSceneComplexity(currentSensorData);
    const adaptiveHeads = sceneComplexity > 0.7 ? 12 : 4;
    // Apply attention with adaptive heads
    const enhanced = await applyAttention(currentSensorData, {
        ...config,
        heads: adaptiveHeads
    });
    // Dynamic-k based on obstacle density
    const obstacleDensity = calculateObstacleDensity(currentSensorData);
    const k = Math.round(5 + obstacleDensity * 15); // 5-20 range
    // Search for similar environments
    const matches = await knownEnvironments.search(enhanced, k);
    return {
        bestMatch: matches[0],
        suggestedPath: computePath(matches),
        confidence: matches[0].score,
        latencyMs: Date.now() - startTime // Track real-time performance
    };
}
// Performance targets for robotics
export const ROBOTICS_PERFORMANCE_TARGETS = {
    controlLoopLatencyMs: 10, // 10ms for 100Hz control
    navigationAccuracy: 0.95, // 95% path planning accuracy
    p99LatencyMs: 15, // 15ms p99 (real-time critical)
    powerConsumptionW: 20, // 20W max (battery life)
    uptimePercent: 99.0 // 99% uptime (2 nines, field operation)
};
// Robot platform-specific configurations
export const ROBOTICS_CONFIG_VARIATIONS = {
    // High-performance robots (Boston Dynamics Spot, ANYmal)
    highPerformance: {
        ...ROBOTICS_ATTENTION_CONFIG,
        heads: 12,
        forwardPassTargetMs: 5, // 5ms for 200Hz control
        precision: 'float32', // Full precision available
        powerConsumptionW: 100 // Higher power budget
    },
    // Consumer drones (DJI, Parrot)
    consumerDrone: {
        ...ROBOTICS_ATTENTION_CONFIG,
        heads: 6,
        forwardPassTargetMs: 20, // 50Hz control acceptable
        precision: 'float16',
        powerConsumptionW: 15 // Battery constrained
    },
    // Industrial AGVs (warehouse robots)
    industrialAGV: {
        ...ROBOTICS_ATTENTION_CONFIG,
        heads: 8,
        forwardPassTargetMs: 15,
        precision: 'float32',
        dynamicK: { min: 10, max: 30, adaptationStrategy: 'warehouse-density' }
    },
    // Embedded robots (Raspberry Pi, Arduino)
    embedded: {
        ...ROBOTICS_ATTENTION_CONFIG,
        heads: 4,
        forwardPassTargetMs: 50, // Slower acceptable
        precision: 'int8', // Quantized for embedded
        powerConsumptionW: 5 // Very power constrained
    }
};
// Environment adaptation
export function adaptConfigToEnvironment(baseConfig, environment) {
    switch (environment) {
        case 'indoor':
            return {
                ...baseConfig,
                heads: 8,
                dynamicK: { ...baseConfig.dynamicK, min: 5, max: 15 }
            };
        case 'outdoor':
            return {
                ...baseConfig,
                heads: 10, // More complexity
                dynamicK: { ...baseConfig.dynamicK, min: 10, max: 25 },
                selfHealing: { ...baseConfig.selfHealing, adaptationIntervalMs: 50 }
            };
        case 'underground':
            return {
                ...baseConfig,
                heads: 6, // Limited sensors
                forwardPassTargetMs: 15
                // Note: Network resilience handled at transport layer
            };
        case 'aerial':
            return {
                ...baseConfig,
                heads: 12, // Complex 3D navigation
                forwardPassTargetMs: 8,
                dynamicK: { ...baseConfig.dynamicK, min: 8, max: 20 }
            };
    }
}
// Power-aware configuration adjustment
export function adaptConfigToPower(baseConfig, batteryPercent) {
    if (batteryPercent < 20) {
        // Critical battery - minimize computation
        return {
            ...baseConfig,
            heads: 4,
            batchSize: 1
            // Note: Precision optimization coming in future release
        };
    }
    else if (batteryPercent < 50) {
        // Low battery - reduce quality slightly
        return {
            ...baseConfig,
            heads: 6,
            precision: 'float16'
        };
    }
    else {
        // Normal operation
        return baseConfig;
    }
}
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