JRobotics v2

World-Class General Purpose Robotics Framework & API for Java

JRobotics is a modular, high-performance, and secure robotics platform for Java 21+. It provides an end-to-end toolkit spanning hardware abstraction, sensor fusion, computer vision, kinematics, artificial intelligence, multi-robot swarm orchestration, physical 2D/3D simulation, and real-time networking.

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📊 Project Metrics

Metric	Value
Maven Modules	14 (13 submodules + root parent)
Java Classes	214+ classes & records
Lines of Code	~25,000 LOC
Test Suites	Unit, Integration, & JMH Benchmarks (100% pass rate)
Target Java Version	Java 21 LTS (records, pattern matching, concurrent utilities)
License	MIT Open Source

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🚀 Key Features

🤖 Core & Lifecycle (jrobotics-core)

• Deterministic Lifecycle: Uniform component states (CREATED, INITIALIZED, STARTED, RUNNING, PAUSED, STOPPED, DESTROYED) with thread-safe atomic transitions.
• Asynchronous Event Bus: High-throughput typed event publication and subscription.
• Dedicated Threading Infrastructure: RobotExecutors managing sensor acquisition, actuator command loops, and background I/O.
• Internationalization (i18n): Fully localized diagnostics and logs (English, French, Spanish, German, Chinese).

🔌 Hardware Abstraction Layer (jrobotics-hal)

• Unified Protocol Interfaces: GPIO, I2C, SPI, and UART/Serial abstractions.
• Target Drivers: Native Raspberry Pi support (Pi4J), USB/Serial devices (JSerialComm), and automated virtual mock fallback for desktop simulation.

📡 Sensors & State Estimation (jrobotics-sensor)

• Extensive Sensor Types: LiDAR, Ultrasonic, Depth/RGB Vision, 9-DoF IMU, Encoders, GPS/GNSS, and Vosk Speech Recognition.
• Sensor Fusion Algorithms:
  • 1D Kalman Filter & Multi-dimensional Extended Kalman Filter (EKF) with Gauss-Jordan inversion.
  • Complementary Filter for low-latency orientation tracking.

⚙️ Actuators & Control (jrobotics-actuator)

• Motors: DC, Stepper, and Brushless motor controllers with speed ramp curves and zero-division guards.
• Servos: Position and continuous servos, ServoBank multi-channel controllers, acceleration profiles.
• Closed-Loop Control: Industrial-grade PID / Feedforward controllers with integral windup protection.

🧠 AI, Planning & Computer Vision (jrobotics-processor)

• Path Planning & Navigation:
  • Grid-based A* (optimal priority queue re-evaluation).
  • Dynamic Window Approach (DWA) obstacle avoidance.
  • Rapidly-exploring Random Trees (RRT) and Dijkstra graph search.
• Simultaneous Localization and Mapping (SLAM):
  • FastSLAM 2.0 particle filter with landmark estimation.
  • Occupancy Grid Mapping with Bresenham ray-casting and log-odds updates.
• Deep Learning & Computer Vision:
  • Deep Java Library (DJL) engine support (PyTorch & TensorFlow inference).
  • Object detection pipelines (YOLO / SSD) with non-maximum suppression.
• Reinforcement Learning:
  • Deep Q-Network (DQN) agents with experience replay.
  • Proximal Policy Optimization (PPO) Actor-Critic agents with analytical backpropagation.
• Behavior Trees: Robust execution trees with composite, decorator, and leaf action/condition nodes.

🐝 Swarm & Distributed Systems (jrobotics-processor & jrobotics-network)

• Swarm Intelligence: Boids Reynolds flocking, V-shape/Circle/Grid formation control, and dynamic leader election.
• Distributed Shared Memory (DSM): UDP multicast peer-to-peer state synchronization.
• Federated Learning (FedAvg): Decentralized model aggregation across robotic swarms.
• Hive Mind: Centralized orchestration for multi-robot fleets.

🌐 Secure Networking & Telemetry (jrobotics-network)

• Hardened Serialization: JSON-over-TCP/UDP communication with length headers and maximum payload boundaries, eliminating Java native deserialization RCE risks (CWE-502).
• Transport Security (TLS 1.3): Enforced TLS endpoint hostname verification (CWE-297).
• Authentication & RBAC: Token-based authentication with constant-time verification (MessageDigest.isEqual) against timing side-channel attacks (CWE-208).
• Secure OTA Updates: Over-The-Air firmware deployments with streaming SHA-256 validation and directory traversal prevention (CWE-22).
• Real-Time Web Dashboard: Lightweight HTTP/WebSocket monitoring server protected against Slowloris DoS.

🌍 Simulation & Physics (jrobotics-simulation)

• Physics Engine: Rigid body dynamics, gravity, friction, restitution, and collisions.
• Zero-Allocation Pools: Vector3Pool with double-release guards for GC-free physics hot loops.
• Multi-Engine Visualizers: Console ASCII renderer, JavaFX 2D canvas, Swing 2D viewport, and JMonkeyEngine (jME3) 3D world.

🦾 Robots & Kinematics (jrobotics-robot)

• Mobile Platforms: Differential drive, Ackermann, and Omnidirectional kinematics with real-time odometry.
• Manipulators: Multi-link RoboticArm with CCD (Cyclic Coordinate Descent) Inverse Kinematics solver.
• Adapters: TurtleBot3, iRobot Create3, Arduino, and custom DIY frames.

🌉 Bridges & External Ecosystems (jrobotics-bridge)

• ROS 2 Integration: Native ROS 2 bridge client for topics and services.
• MQTT Bridge: Clean Eclipse Paho MQTT bridge for IoT gateways.
• Cloud Adapters: Extensible protocols for AWS IoT and Azure IoT Hub.

🛠️ Developer Tooling (jrobotics-cli & jrobotics-editor)

• CLI (jrobotics-cli): Command-line interface for robot discovery, diagnostics, and telemetry streaming.
• Visual Editor (jrobotics-editor): Graphical canvas for designing Behavior Trees and robot setups.
• Benchmarks (jrobotics-benchmark): JMH harnesses measuring microsecond-level performance.

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📦 Quick Start

Prerequisites

• JDK 21+ (Eclipse Temurin, OpenJDK, or GraalVM recommended)
• Maven 3.9+
• Git

Build & Test

# Clone the repository
git clone https://github.com/silvere-martin/jrobotics.git
cd jrobotics/v2

# Build all 14 modules and run the full test suite
mvn clean test

# Package all JAR artifacts
mvn clean package -DskipTests

Running Demos

# Interactive 2D Visual / Console Simulation
./run-visual-demo.bat     # Windows
./run-visual-demo.sh      # Linux / macOS

# JMonkeyEngine 3D Physics Simulation
./run-3d-demo.bat         # Windows
./run-3d-demo.sh          # Linux / macOS

# Web Telemetry Dashboard
./run-dashboard-demo.bat  # Windows
./run-dashboard-demo.sh   # Linux / macOS

# JMH Microbenchmarks
./run-benchmarks.bat      # Windows
./run-benchmarks.sh       # Linux / macOS

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💻 Code Examples

1. Initializing a Differential Drive Robot with Navigation

import org.jrobotics.core.context.DefaultRobotContext;
import org.jrobotics.robot.mobile.DifferentialDriveRobot;
import org.jrobotics.processor.navigation.AStarPathPlanner;

// Create and initialize robot
DifferentialDriveRobot robot = new DifferentialDriveRobot("Scout-1", 0.15, 0.30);
robot.init(new DefaultRobotContext());
robot.start();

// Plan path on 100x100 occupancy grid
AStarPathPlanner planner = new AStarPathPlanner(100, 100);
List<int[]> path = planner.findPath(0, 0, 45, 80);

// Drive along path
robot.drive(0.5, 0.0); // 0.5 m/s forward

2. Multi-link Robotic Arm Inverse Kinematics

import org.jrobotics.robot.manipulator.RoboticArm;
import org.jrobotics.robot.manipulator.CcdInverseKinematicsSolver;
import org.jrobotics.simulation.Vector3;

RoboticArm arm = new RoboticArm("Arm-6DoF");
arm.addSegment(1.0, Vector3.ZERO);
arm.addSegment(0.8, new Vector3(1.0, 0, 0));
arm.addSegment(0.5, new Vector3(1.8, 0, 0));

CcdInverseKinematicsSolver solver = new CcdInverseKinematicsSolver(50, 0.01);
boolean reached = solver.solve(arm, new Vector3(1.2, 0.5, 0.2));

3. Secure Peer-to-Peer Networking

import org.jrobotics.network.server.TcpServer;
import org.jrobotics.network.server.TcpClient;
import org.jrobotics.network.security.SecureTransport;
import org.jrobotics.network.security.TLSConfig;

// Setup TLS configuration
TLSConfig tls = TLSConfig.builder()
    .keyStorePath("keystore.jks")
    .keyStorePassword("secret")
    .requireClientAuth(true)
    .build();

TcpServer server = new TcpServer(8443, tls);
server.start();

TcpClient client = new TcpClient("127.0.0.1", 8443, tls);
client.connect();
client.sendMessage("Scout-1", "TELEMETRY", Map.of("battery", 98.5));

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📂 Project Architecture

jrobotics/
├── jrobotics-core         # Lifecycle, EventBus, Concurrency, i18n
├── jrobotics-hal          # GPIO, I2C, SPI, Serial, Hardware abstraction
├── jrobotics-sensor       # LiDAR, IMU, Vision, Vosk Voice, Kalman & EKF
├── jrobotics-actuator     # DC/Stepper/Brushless Motors, Servos, PID loops
├── jrobotics-processor    # A*, DWA, FastSLAM, OccupancyGrid, DJL, DQN, PPO
├── jrobotics-simulation   # Rigid-body physics, Vector3Pool, 2D/3D renderers
├── jrobotics-network      # TLS Sockets, RBAC, Safe JSON, Swarm DSM, OTA
├── jrobotics-robot        # Mobile robots, Manipulators, CCD IK, Adapters
├── jrobotics-bridge       # ROS 2, MQTT, Cloud IoT connectors
├── jrobotics-benchmark    # JMH performance measurement suites
├── jrobotics-demo         # Interactive 2D/3D & multi-robot scenarios
├── jrobotics-cli          # Operator CLI terminal
└── jrobotics-editor       # Visual Behavior Tree & Configuration designer

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📖 Documentation Links

• 🏛️ Architecture & Design Guide
• 🌐 Networking & Security Protocol Comparison
• 🗺️ Development Roadmap & Milestones
• 👥 Project Credits & Bibliography

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📄 License

This project is licensed under the MIT License. See the LICENSE file for details.

👨‍💻 Authors & Maintainers

• Silvère Martin-Michiellot - Lead Architect & Developer - silvere.martin@gmail.com
• Google DeepMind / Antigravity AI - Co-Developer & QA Auditor