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There has been increased research i n terest in systems composed of multiple autonomous mobile robots exhibiting cooperative b e h a vior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource con ict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing worksdoi:10.1007/978-1-4757-6451-2_1 fatcat:4kvr3mnsavgr3fuu4qgtrcaism