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In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies anddoi:10.1016/j.robot.2010.03.013 fatcat:hmvieeovunajhjs2zlljwbrb5u