Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version

July 2004


Postprint version. Published in Autonomous Robots, Volume 17, Issue 1, July 2004, pages 7-21. The original publication is available at
Publisher URL:


In this paper, we present a mechanism for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed mechanism are presented.


cooperative robotics, multi-robot coordination



Date Posted: 13 August 2005

This document has been peer reviewed.