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The Publish/Subscribe paradigm matches well with these systems. Data Distribution Service (DDS) is a Publish/Subscribe data-centric middleware. It specifies an API designed for enabling real-time data distribution and is well suited for such complex distributed systems and QoS-enabled applications. Unfortunately, the need to transmit a large number of sensor measurements over a network negatively affects the timing parameters of the control loops. The CAN-bus enables the information from a large number of sensor measurements to be conveyed within a few messages. Its priority-based medium access control is used to select the sensor messages with high timing constraints. This approach greatly reduces the time for obtaining a snapshot of the environment state and therefore supports the realtime requirements of feedback control loops. The use of the " Publish/Subscribe/Distribute " paradigm and the underlying real -time CAN-Bus is a currently research topic an d only today few works exist in this area. These activities are headed

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