Interprocess communication and task sequencing is performed by the
Task Control Architecture (TCA). TCA is a general-purpose
architecture for mobile robots that provides support for distributed
communication via sockets, task decomposition and scheduling, resource
management, execution monitoring, and error recovery [Simmons
1994a]. TCA-based systems consist of a number of
distributed, concurrent processes that communicate via coarse-grained
message passing. TCA connects processes, routes messages, and
coordinates overall control and data flow. It also provides
capabilities to log and analyze message traffic, which has proven to
be very useful in understanding certain critical timing issues in the
autonomous navigation system. Its code is publicly
LRD Navigation Group - email@example.com (last updated in March 1995)
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