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Tuesday · 31 May

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Three documents moved while you slept.

Two were advanced by agents overnight. The architecture brief is ready for your read.

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Control-loop architecture, v3
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Sensor fusion: failure modes
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Q3 reliability targets
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Deployment runbook — edge fleet
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01 Documents — inside a space
Engineering / Architecture 24 docs
Engineering / Architecture

The Architecture collection

24 documents · 4 agents with write access · last sync 12s ago
All 24 Drafts 7 In review 4 Published 13 Live now 2 Edited by agents 11
DocumentLast edited byUpdatedStatus
024
Control-loop architecture, v3
Markdown · 12 min read · 4 contributors
AXAtlas
now Draft
023
Event bus topology 🔒
Markdown · 8 min read · 2 contributors
EM
Elena Marsh
human · admin
14m ago In review
022
State reconciliation model
Markdown · 16 min read · 5 contributors
CRCurie
1h ago Published
021
Edge fleet deployment topology
Markdown · 9 min read · 3 contributors
JP
Jonas Pry
human · editor
3h ago Published
020
Safety envelope specification
Markdown · 21 min read · 6 contributors
AXAtlas
Yesterday Published
019
Sensor calibration handbook
Markdown · 7 min read · 2 contributors
SK
Sara Kohl
human · editor
2d ago Draft
02 Document — reading view
Architecture / State reconciliation model published
Doc 022 · Engineering / Architecture

A state reconciliation model for partitioned fleets

How edge robots converge on shared world-state after a network split — and why eventual consistency is a feature, not a compromise.

Partition tolerance is not negotiable for a fleet that operates beyond reliable connectivity. When an edge node loses contact with the coordinator, it must keep acting on the last world-state it trusted — and reconcile cleanly when the link returns. The model below treats divergence as the normal case.

§1 The convergence guarantee

Every node maintains a conflict-free replicated representation of shared state. Two nodes that observe the same set of operations — in any order — arrive at byte-identical state. This is the property we lean on hardest: order-independence lets a reconnecting node replay a backlog without coordination.

If two replicas have seen the same operations, they are in the same state. Order is an implementation detail, not a contract.

The practical consequence is that a node need never ask permission to act. It acts, records the operation, and trusts the merge. See the CRDT primer →

§2 Reconciliation after a split

When a partition heals, each side exchanges the operations the other has not yet seen. Because the merge is commutative, there is no leader election and no rollback. The sequence is deliberately boring:

  • Exchange operation-set digests to find the delta.
  • Stream missing operations in either direction.
  • Apply locally; the merge function guarantees convergence.
Why this matters for agents. An autonomous agent editing a doc offline is just another partitioned replica. The same merge that reconciles two robots reconciles a human and an agent who edited the same paragraph.

§3 Operation log as source of truth

State is never stored directly — it is always a fold over the operation log. This gives us a complete audit trail for free: every change, by every principal, human or agent, is reconstructable from the log alone.

reconcile.ts// converge two divergent replicas — order-independent function reconcile(local: OpLog, remote: OpLog): State { const merged = local.merge(remote); // commutative return merged.fold("genesis"); // deterministic }

The genesis state is the namesake zero point — every fleet starts from the same empty world and diverges only through observed operations.

03 Editor — humans & agents, co-editing live
Architecture / Control-loop architecture, v3
Synced · 12s ago
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AX
JP
Text ⌄ B I U </> ◆ Ask agent
Doc 024 · Draft All changes saved

The control-loop architecture

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Each robot runs a tight perception-plan-act loop at 50 Hz. The loop is the unit of determinism: given identical sensor input and identical state, two robots produce byte-identical actuation commands. This is what makes fleet behaviour reproducible in simulation.

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§1 The perception stage
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Raw sensor frames are fused into a single world-estimate before the planner ever sees them. We deliberately keep the fusion stage stateless so that a replay always yields the same estimateAX Atlas · typing

AX Atlas suggests an edit · §2 Planning just now
The planner consumes the world-estimate and emits a trajectory. It runs whenever the loop ticks. It runs once per loop tick (50 Hz) and is bounded to 4 ms of wall-clock so a slow plan can never stall actuation — the previous trajectory is reused on overrun.
Adds the timing bound from runbook 041, per your comment.
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§3 Actuation & safety
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The actuation stage is the only component permitted to command motors, and it enforces the safety envelope independently of the planner's intent.

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04 Admin — members, teams & agents
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Elena Marsh · you
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editing
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Jonas Pry
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EngResearch
12m ago
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Curie ◆ agent
svc:curie · research-bot · rev-key …7c20
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Research
idle · 40m
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Sara Kohl
sara@nexa.dev
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Product
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