DISTRIBUTING REAL-TIME CONTROL TASKS AMONG MULTI AGENT ROBOT SYSTEMS

A task performed by an autonomous robot system can be described as a ner\vork of event-based and time-based controlloops. 11' a single task must be distribllled to several individual robot systems, it is necessary to sepa­ rate the network into independent but coupled subnets. In this paper, a robot operating system, CAIC (Cooperative ArchiteclUre for Intelligent Contro!), is described that supports the distribution und execution of con­ trollasks. i.e., contral networks l%n several rabots.