Several issues arise if one wants to operate a team of autonomous robots to achieve complex missions. The problems range from
mission planning taking into account the different robots capabilities to conflict free execution.
This paper presents a general architecture for multi-robot cooperation whose interest stems from its ability to provide a
framework for cooperative decisional processes at different levels: mission decomposition and high level plan synthesis, task
allocation and task achievement.
This architecture serves as a framework for two cooperative schemes that we have developed: M+NTA for Negotiation for Task
Allocation, and M+CTA for Cooperative Task Achievement.
The overall system has been completely implemented and run on various realistic examples. It showed effective ability to endow
the robots with adaptive auto-organization at different levels. A number of performance measures have been performed on simulation
runs to quantify the relevance of the different cooperative skills that have been proposed.