Service robot teams increasingly gain interest. These robots must achieve a high level of flexibility, adaptability, and efficiency in human-populated areas. With our project - concerned with service robot teams in structured environment - we present the integration of control and interaction structures to handle multiple transport and delivery tasks with several robots. This structure is implemented and tested on the mobile robot team ARIADNE.

Michael Pauly, Marion Finke, Liliane Peters, and Klaus Beck. Control and Service Structure of a Robot Team. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'99, October 17 - 21, Kyongju, Korea, S. 1069-1074, 1999.