A New Distributed Model to Control and Coordinate a Set of Autonomous Mobile Robots: The CORDA Model

Abstract

Over the past few years, the focus of robotic design has been moving from a scenario
\nwhere few, specialized (and expensive) units were used to solve a variety of tasks, to 
\na scenario where many, general purpose (and cheap) units were used to achieve some common 
\ngoal. Consequently, part of the focus has been to better understand how to efficiently 
\ncoordinate and control a set of such