Real-time distributed control system for navigating omnidirectional soccer robot

This paper describes the design of a distributed control system which is composed of four layers. The communications between layers are done by own designed protocol, via a networks and communication systems. Potential requirement include real-time guarantees on behaviors, a more general need for low latencies through the system ability of robots to run autonomously. The distributed system used CORBA architecture which will be announced in the paper. The system is implemented on MRL team omnidirectional soccer robots, participated in robocup 2006.