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Loading Zone Boundary (Fence)

A Loading Zone Boundary (Fence) is a software barrier that isolates an rectangle area from the rest of the Flyways. Currently, the perimeter of each Flyway is also a loading zone boundary, and the Zone ID matches with the Flyway ID. The following picture shows all the Zones and their Zone ID. In a future version, you will be able to define a custom boundary with custom Zone ID.

Loading_Zone_Boundary_Highlight-20221202-223100.png
Loading_Zone_Highlight-20221202-223100.png

By default, boundaries are not activated. Once you activated a boundary, no XBot will be able to cross this boundary. Any XBot tries to cross this boundary will enter "STOPPED" state and its XBot Motion Buffer will be cleared. The following picture demonstrates XBots trying to cross an activated boundary with boundary ID 3.

XBot_Hitting_Zone_Boundary-20221202-223101.png

Once a boundary is activated, Auto Driving command will consider the boundary region invalid, and will report error if you attempt to drive there.

Auto_Driving_Outside_Boundary-20221202-223100.png

XBots can still move within the boundary.

XBot_Can_Move_Within_Zone_Boundary-20221202-223101.png

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