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This paper introduces an Embedded Software Architecture for Intelligent Robot systems (ESAIR) that addresses issues with parallel thread executions on multi-core processor platforms. ESAIR provides a thread scheduling interface to improve the execution performance of a robot system by assigning a dedicated core to a running thread on-the-fly and dynamically rescheduling the priority of the thread. We describe the object-oriented design and the control functions of the ESAIR. The modular designdoi:10.5875/ausmt.v3i1.167 fatcat:yknjm6bi3bhqxg5dp3sz2nyliy