Best current solutions 
 
Piaget: proprietary, multi-agent, realtime implemented in C (Borland, Builder) under Windows (XP-Pro, 2000, 98, etc.). Time granularity of 200 nanoseconds per agent in average. Extensive simulation (off-line) and direct, interactive control (online) capabilities; high-level, task-specific plus robot and real-time specific operation and programming capabilities. 
 
Including matrix and compound transformation calculus support. 
 
Optimized for efficient and agile redefinition of parameters and strategies by humans. 
 
PiagetLight: proprietary, multi-agent, realtime, implemented in C, under Windows and RTOS 
 
On PLC: IEC6-1131 standard, including structured text and Grafcet programming modes for server functions; controlled by supervisory computer in Piaget environment. 
 
Past solutions 
 
Piaget proprietary, multi-agent, realtime implemented in Pascal (Borland) under DOS or Windows (XP-Pro, 2000, 98, etc.)