● HIVE 3D SYSTEM ONLINE  |  THREE.JS WEBGL R184 SIMULATION  |  4 AUTONOMOUS AMRS READY  |  SPACE-TIME A* (MAPF) 4D RESERVATIONS ACTIVE  |  ISO 3691-4 PEDESTRIAN SAFETY NOMINAL  |  QUAD-CAM 4-UP FLEET STREAMING LOADED  |  ACTIVE 3D SCISSOR-LIFT KINEMATICS  |  60 FPS SIMULATION INTEGRATOR  |  ZERO BACKEND PURE CLIENT WEBGL      ● HIVE 3D SYSTEM ONLINE  |  THREE.JS WEBGL R184 SIMULATION  |  4 AUTONOMOUS AMRS READY  |  SPACE-TIME A* (MAPF) 4D RESERVATIONS ACTIVE  |  ISO 3691-4 PEDESTRIAN SAFETY NOMINAL  |  QUAD-CAM 4-UP FLEET STREAMING LOADED  |  ACTIVE 3D SCISSOR-LIFT KINEMATICS  |  60 FPS SIMULATION INTEGRATOR  |  ZERO BACKEND PURE CLIENT WEBGL     
ROBOAI SUITE // INDUSTRIAL ROBOTICS SIMULATOR

NEXT-GEN
HIVE 3D

Autonomous Swarm Logistics & Multi-Agent 3D Simulation Platform

A full-scale industrial warehouse simulator engineered in pure Three.js WebGL. Featuring 4 autonomous mobile robots, 4D Space-Time A* Multi-Agent Path Finding, dynamic ISO 3691-4 pedestrian safety envelopes, physical scissor-lift cargo elevations, and real-time Quad-Cam fleet feeds.

▶ Launch 3D Simulator EXPLORE ARCHITECTURE
4
AUTONOMOUS AMRs
90m²
3D WAREHOUSE
4D
SPACE-TIME MAPF
60 FPS
ZERO-BACKEND
● AMR-01 ATLAS [ACTIVE]
LIFT ELEV:0.46 m
LIDAR:600 RPM
PAYLOAD:650 kg
BATTERY:98% SOC
Drag Mouse / Touch TO ORBIT 3D ROBOT
ENGINEERING BREAKTHROUGHS

Built Like Gazebo & ROS 2 Nav2

HIVE 3D brings industrial-grade autonomous robotics algorithms out of heavy C++ desktop binaries and into a fluid 60 FPS WebGL browser experience.

01 // PATHFINDING
🛡️
4D Space-Time A* MAPF

Evaluates $(x, y, t)$ coordinates with a 4D reservation table. Eliminates vertex collisions, head-on corridor deadlocks, and edge swaps using hierarchical right-of-way priority yielding.

O(E log V) MIN-HEAP
02 // KINEMATICS
🏗️
Active 3D Scissor Lift

Models physical elevation cycles: AMRs raise their platform to high-bay rack shelf tiers, pick inventory crates, lock onto transport decks, and eject payloads onto outbound motorized conveyors.

HYDRAULIC SIM
03 // SAFETY
👷
ISO 3691-4 Pedestrian Safety

Warehouse workers walk patrol paths. AMRs enforce dual-zone envelopes: 3.5m caution deceleration and 1.8m emergency safety halt with flashing hazard underglow and dynamic Space-Time detours.

SAFETY COMPLIANT
04 // SENSORS
📹
Quad-Cam Fleet Streaming

Floating acrylic drawer streams real-time forward cameras for all 4 AMRs simultaneously without duplicating the scene graph. Supports 3rd-person Chase and 1st-person Sensor Eye with YOLO AI reticles.

MULTI-PASS WEBGL
SIMULATION PLAYGROUND

TEST ALGORITHMS INTERACTIVELY

Interact with the live algorithm visualizers below to see how Space-Time $(x, y, t)$ reservation tables eliminate corridor conflicts and how ISO 3691-4 dual safety zones brake for pedestrians.

01 // 4D SPACE-TIME A* INTERSECTION
ANTI-SWAP MAPF

Robot R-01 (Blue, carrying priority SKU crate) has Right-of-Way. Robot R-02 (Green) consults its $(x, y, t)$ reservation table, decelerates, and waits in-place before proceeding through the crossing.

02 // ISO 3691-4 DUAL-ZONE RADAR
PEDESTRIAN SAFETY

LiDAR radar tracking human pedestrian in safety vest: 3.5m Caution Zone (amber deceleration) & 1.8m Emergency Zone (immediate halt + hazard underglow + Space-Time detour).

FLEET TELEMETRY PROFILE

THE 4 AUTONOMOUS AMRs

Each robot in the HIVE fleet is engineered with customized kinematic parameters, sensor payloads, and operational state machines.

R-01 // COBALT HEAVY LIFTER
ATLAS

Specialized in heavy bulk pallet picking and high-bay tier retrieval. High torque drive base with reinforced chassis.

Max Velocity1.5 m/s
Payload Cap650 kg
LiDAR Sensor360° / 600 RPM
Battery Spec48V 100Ah LiFePO4
R-02 // EMERALD HIGH-SPEED COURIER
NEXUS

High-acceleration rapid courier for priority SKU dispatching. Optimized for fast aisle transit and dynamic pedestrian avoidance.

Max Velocity2.2 m/s
Payload Cap350 kg
LiDAR Sensor360° / 900 RPM
Battery Spec48V 80Ah Fast-Chg
R-03 // BLAZE CONVEYOR FEEDER
FORGE

Dedicated outbound dispatch feeder. Interfaces continuously with motorized roller conveyors and optical barcode scanners.

Max Velocity1.8 m/s
Payload Cap500 kg
LiDAR Sensor360° / 600 RPM
Battery Spec48V 90Ah LiFePO4
R-04 // PLASMA CARTOGRAPHER
ECHO

Frontier cartographer equipped with extended range LiDAR for autonomous warehouse SLAM mapping and dynamic corridor inspection.

Max Velocity1.6 m/s
Payload Cap300 kg
LiDAR SensorDual RGB-D + LiDAR
Battery Spec48V 85Ah Low-Drain
MULTI-CAMERA ARCHITECTURE

SIMULTANEOUS FLEET STREAMING

Just like Gazebo’s multi-camera sensors and ROS 2 rqt_image_view, HIVE 3D streams all four forward cameras concurrently with zero viewport compression.

CAM 01 // ATLAS
PALLET: 99.4%
CAM 02 // NEXUS
WORKER: 98.1%
CAM 03 // FORGE
CONVEYOR: 99.7%
CAM 04 // ECHO
CHARGER: 96.5%

Floating Acrylic Drawer & Follow Cam

Pressing G in the simulator deploys a floating acrylic drawer across the top of the canvas without reflowing or squishing the 3D scene. Clicking any feed instantly switches the main 3rd-person Chase Camera to track that robot and retracts the drawer.

  • Single Scene Graph Multi-Pass: Zero geometry or texture duplication in GPU VRAM.
  • Synthetic YOLO AI HUD: Real-time 2D bounding boxes projected onto racks and workers.
  • Draggable PiP Monitor: Secondary CRT picture-in-picture sensor view with scanlines.
SYSTEM ARCHITECTURE

TECHNICAL SPECIFICATIONS

Summary of the simulation engine parameters, algorithms, and browser runtime performance metrics.

SUBSYSTEM IMPLEMENTATION SPECIFICATION DETAILS
3D Graphics Engine Three.js r184 (WebGL) Directional PBR lighting, soft shadow maps, volumetric scene fog, custom pallet textures
Multi-Agent Pathfinding Space-Time A* (x, y, t) 4D reservation table, min-heap queue, vertex conflict elimination, anti-swap edge checks
Safety Standard ISO 3691-4 AGV/AMR 3.5m caution deceleration zone, 1.8m emergency braking stop, dynamic Space-Time detours
Kinematic Lift Active 3D Scissor Lift Hydraulic height elevation (0.03m to 0.80m), deck locking, outbound conveyor slide-off
Fleet Telemetry Chart.js 3.9.1 Live 4 live updating charts: Battery levels, Task distribution, Robot odometer, Fleet state timeline
Audio Synthesizer Web Audio API Procedural motor pitch whines, hydraulic lift hiss, barcode confirmation beeps, hazard alarms
Client Architecture Vanilla ES Modules Zero backend required; 100% client-side WebGL running at 60 FPS in modern browsers
TOP

SYSTEM INQUIRIES

// FREQUENTLY ASKED QUESTIONS //
What are the WebGL requirements for the simulators? ▼
RoboAI Suite requires a modern browser with WebGL 2.0 support. Hardware acceleration must be enabled in your browser settings to ensure 60fps performance during 3D point cloud rendering and 6-DOF kinematics.
How does LiDAR raycasting operate client-side? ▼
The SLAM simulator uses a highly optimized 2D line-line intersection algorithm. It casts 360 rays from the robot's center against all wall line segments in the environment grid. Gaussian noise is injected into the distance readings to simulate real-world sensor inaccuracies.
How does NEXUS handle kinematics singularity? ▼
The inverse kinematics (IK) solver uses Damped Least Squares (DLS) with Levenberg-Marquardt damping. When the Jacobian determinant approaches zero (Yoshikawa manipulability index drops), the damping factor prevents joint velocities from tending to infinity, ensuring stable trajectories near singularity zones.
What is Space-Time A* in HIVE Logistics? ▼
Space-Time A* is a 4D pathfinding algorithm (x, y, rotation, time) used in HIVE. It manages a global reservation table so autonomous mobile robots (AMRs) can plan collision-free paths by factoring in the projected future positions of all other active units in the swarm.