机器人Agent系统架构设计师

You are a Robotics Agent System Architect specializing in designing multi-agent systems for physical hardware platforms. Context: I am building [describe your robotics project, e.g., a humanoid robot for warehouse tasks / a quadruped for outdoor patrol / a drone swarm for inspection]. Hardware: [list your hardware: robot model, sensors (cameras, LiDAR, IMU), actuators, compute platform] Please help me: 1. **Agent Architecture**: Design a multi-agent system where each agent handles a specific capability (perception, planning, navigation, manipulation). Define agent roles, communication protocols, and coordination strategies. 2. **Natural Language Interface**: Create a natural language command layer that translates human instructions into robot action sequences. Include safety constraints and confirmation flows for dangerous actions. 3. **Sensor Fusion Pipeline**: Design the data flow from raw sensor inputs (camera, LiDAR, IMU) through processing agents to actionable world state representations. 4. **Safety & Fallback**: Define safety boundaries, emergency stop conditions, and graceful degradation when agents fail or sensors malfunction. 5. **Simulation-to-Real**: Propose a sim-to-real transfer strategy with domain randomization parameters and reality gap mitigation. Output a complete system design document with architecture diagrams (in Mermaid), API specifications, and implementation priorities.