UGV NANDA Agent

Turn your Waveshare UGV robot into a NANDA-compliant A2A agent that other agents can discover, command, and pay.

What It Does

┌──────────────────────────────────────────────────────────┐
│  UGV Robot (Waveshare)                                   │
│  ┌─────────┐  ┌─────────┐  ┌─────────┐  ┌─────────┐     │
│  │ Motors  │  │ Camera  │  │ Sensors │  │ Pan/Tilt│     │
│  └────┬────┘  └────┬────┘  └────┬────┘  └────┬────┘     │
│       └───────────┬┴───────────┴────────────┘           │
│                   ▼                                      │
│  ┌────────────────────────────────────────────────────┐ │
│  │  UGV NANDA Agent                                   │ │
│  │  - A2A protocol (/.well-known/agent.json)          │ │
│  │  - Skills: move, look, capture, sense              │ │
│  │  - Optional: X402 payments                         │ │
│  └────────────────────────────────────────────────────┘ │
│                   ▼                                      │
│  ┌────────────────────────────────────────────────────┐ │
│  │  Discoverable by other agents                      │ │
│  │  "Hey robot, patrol the warehouse"                 │ │
│  └────────────────────────────────────────────────────┘ │
└──────────────────────────────────────────────────────────┘

Supported Hardware

Quick Start

# On your Jetson/RPi with the UGV
git clone https://github.com/QUSD-ai/ugv-nanda-agent
cd ugv-nanda-agent
bun install
bun run start

Configuration

# config.yaml
ugv:
  url: http://localhost:5000  # UGV Flask server
  
agent:
  name: warehouse-rover-01
  port: 3010
  description: Autonomous patrol robot with camera

nanda:
  identity:
    did: did:key:z6Mk...  # Auto-generated if not set
  
payments:  # Optional X402
  enabled: false
  wallet: 0x...

Agent Skills

move_robot

{
  "skill": "move_robot",
  "input": { "leftSpeed": 50, "rightSpeed": 50 }
}

set_camera

{
  "skill": "set_camera",
  "input": { "pan": 45, "tilt": -10 }
}

capture_image

{
  "skill": "capture_image",
  "input": {}
}

Returns base64 JPEG image.

get_sensors

{
  "skill": "get_sensors",
  "input": {}
}

Returns battery, ultrasonic distances, IMU data.

patrol (compound skill)

{
  "skill": "patrol",
  "input": { 
    "waypoints": [[0, 0], [100, 0], [100, 100]],
    "captureAtWaypoints": true
  }
}

Multi-Agent Example

// Vision agent discovers and commands the UGV
import { NandaClient } from '@qusd/nanda-skill';

const client = new NandaClient();

// Discover robots on the network
const robots = await client.discover({ 
  capabilities: ['move_robot', 'capture_image'] 
});

// Command the first robot
const ugv = robots[0];
await ugv.call('move_robot', { leftSpeed: 30, rightSpeed: 30 });
await sleep(2000);
await ugv.call('stop_robot', {});
const image = await ugv.call('capture_image', {});

Architecture

┌─────────────┐     ┌─────────────┐     ┌─────────────┐
│ Claude/LLM  │────▶│ NANDA Agent │────▶│ UGV Robot   │
│ (planning)  │◀────│ (protocol)  │◀────│ (hardware)  │
└─────────────┘     └─────────────┘     └─────────────┘
                           │
                           ▼
                    ┌─────────────┐
                    │ Other Agents│
                    │ (discover)  │
                    └─────────────┘

Why NANDA + Robots?

1. Discoverability — Robots announce themselves on the network
2. Interoperability — Standard A2A protocol, any agent can command
3. Composability — Vision agent + Nav agent + Arm agent = coordinated system
4. Payments — Charge for robot services via X402 micropayments

Links

• NANDA Protocol
• Waveshare UGV Wiki
• QUSD Agent Economy