T HIS CHAPTER is dedicated to the control of multi-robot systems. It constitutesa natural extension of the proposed multi-controller architectures to deal with 139

multi-robot systems. This is possible thanks to the adopted bottom-up approach and its inherent features. The focus will be on dynamic multi-robot navigation in formation and on the cooperative strategies to perform safe, reliable and flexible navigation. An overview of other addressed multi-robot tasks (as “co-manipulation and transportation” and “exploration under uncertainty”) will also be briefly presented.