The goal of our research is to investigate manipulation, mobility, sensing, control and coordination for a multiagent robotic system employed in the task of material handling, in an unstructured, indoor environment. In this research, manipulators, observers, vehicles, sensors, and human operator(s) are considered to be agents. Alternatively, an agent can be a general-purpose agent (for example, a six degree of freedom manipulator on a mobile platform with visual force, touch and position sensors). Possible applications for such a system includes handling of waste and hazardous materials, decontamination of nuclear plants, and interfacing between special purpose material handling devices in warehouses. The fundamental research problems that will be studied are organization, or the decomposition of the task into subtasks and configuring the multiple agents with appropriate human interaction, exploration, or the process of exploring geometric, material and other properties about the environment and other agents, and coordination, or the dynamic control of multiple agents for manipulation and transportation of objects to a desired destination.