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The purpose of this study is to realize a Multiple Robots System which can be e asily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We call such cooperative work \Tight Cooperation". To achieve such cooperation, there must be an integrated concept in the systemdoi:10.1109/iros.1998.724784 dblp:conf/iros/FujitaK98 fatcat:qb27abmqivdzvcaxq3d2zjpvmm