Message-based machine control pattern similar to ROS

If I have a single application running on a single computer but want to have multiple asynchronous threads running and communicating with each-other in order to control the complex behavior of machinery or robots what software design pattern would that be?

I'm specifically looking for something similar to Robot Operating System (ROS) but more in the context of a single library for c# where it handles the messages or the "message bus". There seems to be a lot of overlapping terminology for these things.

I'm essentially looking for a software implementation of a local, distributed node architecture that communicate with each-other much in the same way that nodes on the CAN bus of a car do to perform complex behavior in a distributed way.

Thanks