This paper presents a new architecture for coordinating multiple autonomous robots in the execution of cooperative tasks. The architecture is based on the definition of a strategy that uses different tactics, setplays and roles. Roles enable to configure individual behaviour by performing specific tasks using a given set of actions. The proposed architecture allows flexible and efficient multi-robot operation in dynamic environments. The paper also presents an application of the proposed

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... cture to a complex domain such as middle-size robotic soccer. Our architecture is also generally enough to be applied in different robotic soccer leagues and similar multi-robot problems.