“…& Olsen, A., 2002), all the components communicate using the TCP/IP supported network. ARS or an MRS architecture, also known as Multi-Agent System, specify how to accomplish and integrate planning, monitoring, and control into a system constrained by: (1) sensors and actuators, which cause failures and misperceptions; (2) restricted computational resources, which limit the amount of planning and data processing; and asynchronous events (Trad, A., Kalpic, D. & Fertalj, K. 2002), such as failures or errors, which call for immediate attention; and (3) probably the most important hyper-fast processing (In average, it takes about 100 nanoseconds for an agent to take control and perform an elementary operation) (Dessimoz, J.-D., Gauthey, P.-F. & Roulin, P., 2003).…”