Figure
1 depicts our three thread
TeleoR agent architecture using an inter-agent communication server,
Pedro.
Pedro supports both addressed communication to an identified agent as well as publish/subscribe unaddressed communication. The
TeleoR evaluator thread effectively re-evaluates the initial
TeleoR procedure call of each active task and dispatches the actions for all the robotic resources for which each task has exclusive control at that point in time.
