This vote is multiplied by the module's weight in the arbiter. The unvetoed command with the highest weighted sum is sent to the controller. Many of the arbiter's capabilities, such as smoothing in the time domain and interpolating in between the discrete voting bins to achieve finer control, were developed for other projects and go unused in our system. Most useful to us among its advanced features is a GUI which allows us to visualize the votes coming in from each module for debugging. In RTC, the locations of individual modules are tracked by a central server.
Modules can register and unregister on the fly.
The system supports a limited form of publish-subscribe communication. Visit the RTC web site.