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This paper describes the basic concepts and features of MeRMaID (Multiple-Robot Middleware for Intelligent Decision-making), a robot programming framework whose goal is to provide a simplified and systematic high-level behavior programming environment for multi-robot teams. MeRMaID constrains, on purpose, some of the programmer's options, and can accept plans described by state machines, Petri nets and other types of decision-making algorithms, including fuzzy-logic decision-making anddoi:10.3182/20070903-3-fr-2921.00073 fatcat:ij5dtatyfjbalfhx2fnn4p3itq