A Modular Architecture for Event-Based Control of Complex Robots

This scary title is the title of a paper I've found on the internet these days.

It's pretty much useful for my research, I was thinking on ways to connect on an organized way a central controller (eLua based) and some "satellite" MCU's doing the dirty jobs (sensors low-level interface, motor control and so on...).

Here is a link, through Dr. Francesco Mondada from EPFL. (ASEBA)