ABSTRACT
The cooperation of robots in unknown settings poses a complex control problem. Solutions are required to guarantee an appropriate trade-off in task objectives within and among the robots. Centralized approaches to this problem are not
efficient or applicable due to their inherent limitations – for instance, the requirement of global knowledge about an environment and a precise design to consider all possible states [PM00]. Distributed approaches, on the other hand, are more appealing due to their properties of better scaling and reliability.
