Choice of interconnect

I have been looking at different ways of connecting the different tiers of the robot that facilitates the following characteristics:

• Real-time
• Fault tolerant
• Embedded
• Low-power
• Broadcast friendly
• Master-less (survives
• Adaptive (survives topology changes)
• Bus architecture (many nodes)
• "Fast"

So far the most likely candidate seems to be CANbus.



I will investigate further.