A floating master controller system is provided that includes a plurality of hardware units, each capable of carrying out at least one mechanical function. Each hardware unit includes a processor configured via controller code included in a memory to cause the respective hardware unit to operate and carry out the at least one mechanical function. The controller code for each hardware unit includes a master controller (MC) application and at least one floating master controller (FMC) application. Each MC application is operably configured to function as an active master controller that controls the at least one mechanical function in each of the plurality of hardware units in the system and is operably configured to control the at least one mechanical function for its respective hardware unit responsive to tracking another one of the MC applications that is functioning as the active master controller in the system. Also, the at least one FMC application for each hardware unit is operably configured to automatically coordinate with each other FMC application to move active master controller functionality for the system between each of the different MC applications in the system.

Provided is a subject device comprising: a control permission issuance part for issuing a new control permission each time a control permission issuance request is received from any of a plurality of control devices, and for returning information of the new control permission to the control device having transmitted the issuance request; a control permission management part for managing the control permissions such that only one among the issued control permissions is valid and the other issued control permissions are invalid; and a mutual exclusion part for, upon receipt, from any of the plurality of control devices, of a control commencement request to which the information of the control permission has been appended, verifying whether the control permission appended to the control commencement request is valid, allowing exclusive control by the control device having transmitted the control commencement request if the control permission is valid, and denying control by the control device having transmitted the control commencement request if the control permission is invalid.

Provided is a subject device comprising: a control permission issuance part for issuing a new control permission each time a control permission issuance request is received from any of a plurality of control devices, and for returning information of the new control permission to the control device having transmitted the issuance request; a control permission management part for managing the control permissions such that only one among the issued control permissions is valid and the other issued control permissions are invalid; and a mutual exclusion part for, upon receipt, from any of the plurality of control devices, of a control commencement request to which the information of the control permission has been appended, verifying whether the control permission appended to the control commencement request is valid, allowing exclusive control by the control device having transmitted the control commencement request if the control permission is valid, and denying control by the control device having transmitted the control commencement request if the control permission is invalid.

A floating master controller system is provided that includes a plurality of hardware units, each capable of carrying out at least one mechanical function. Each hardware unit includes a processor configured via controller code included in a memory to cause the respective hardware unit to operate and carry out the at least one mechanical function. The controller code for each hardware unit includes a master controller (MC) application and at least one floating master controller (FMC) application. Each MC application is operably configured to function as an active master controller that controls the at least one mechanical function in each of the plurality of hardware units in the system and is operably configured to control the at least one mechanical function for its respective hardware unit responsive to tracking another one of the MC applications that is functioning as the active master controller in the system. Also, the at least one FMC application for each hardware unit is operably configured to automatically coordinate with each other FMC application to move active master controller functionality for the system between each of the different MC applications in the system.