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This paper addresses issues in developing a coordination system for mobile robots in a hostile environment. Sharing a common representation of the environment improves the ability to plan future environment states. The Multi-Agent Planning System (MAPS) is described that addresses these issues. Performance is examined in the highly dynamic robot soccer environment and demonstrates MAPS as a viable method of providing robot coordination.doi:10.1109/iros.2000.893215 dblp:conf/iros/TewsW00 fatcat:rzpy45vg5bct5gsdksrialkaga