This thesis presents the development of a control system for Autonomous Transport Robots (ATR) which will be used in the Volvo Factories. The research also evaluates the timing and frequency of the control messages sent over the Controller Area Network (CAN) bus of the ATR. The ATR is a part of a cyber-physical system having control parameters over Wi-Fi and CAN communication. The ATR has a distributed control system with two controllers, which work simultaneously and interdependently. One controller is the center of the decision-control system, and the other controller handles peripherals, buttons, and sensors. The ATR is developed as a state machine having different operating states. Each operating state has its own tasks to perform and a certain set of state transitions. The ATR uses CAN communication to communicate with different nodes present on the ATR. To provide reliability of the CAN message, an interrupt service routine is developed for both the controllers. This interrupt service routine helps the controller to ensure that all the necessary CAN messages arriving on the CAN bus are received by the controller and no important messages are missed or lost in transmission. For Wi-Fi communication, MQTT Protocol is used to communicate with the edge controller. The response time of both the controllers as well as the response time of the ATR is calculated in all the ATR states and a constant response time of the ATR for every state is proposed. The frequency of the CAN messages is evaluated and a bus load on the CAN bus is calculated at different baud rates. A suitable baud rate for the CAN bus on the ATR is proposed. Overall, this thesis contributes to the development of a robust control system for ATR, ensuring reliable communication over both CAN and Wi-Fi interfaces. The analysis of response times and bus loads aids in optimizing the performance and efficiency of the ATR in various operational scenarios.