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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 proposeddoi:10.3182/20061002-2-br-4906.00009 fatcat:pd7atvc365co3oxqbxqjrwf6fu