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The paper considers the properties a Multi-Robot System should exhibit to perform an assigned task cooperatively. Our experiments regard specifically the domain of RoboCup Middle-Size League (MSL) competitions. But the illustrated techniques can be usefully applied also to other service robotics fields like, for example, videosurveillance. Two issues are addressed in the paper. The former refers to the problem of dynamic role assignment in a team of robots. The latter concerns the problem ofdoi:10.1109/jproc.2006.876919 fatcat:7nnhdgurajg5baxytflh442umi