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Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry. <\/jats:p>","DOI":"10.1177\/0278364902021010981","type":"journal-article","created":{"date-parts":[[2003,4,28]],"date-time":"2003-04-28T10:25:30Z","timestamp":1051525530000},"page":"977-995","source":"Crossref","is-referenced-by-count":79,"title":["A Framework and Architecture for Multi-Robot Coordination"],"prefix":"10.1177","volume":"21","author":[{"given":"Rafael","family":"Fierro","sequence":"first","affiliation":[{"name":"MARHES Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater, OK USA"}]},{"given":"Aveek","family":"Das","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"John","family":"Spletzer","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Joel","family":"Esposito","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"James P.","family":"Ostrowski","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"George","family":"Pappas","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Camillo J.","family":"Taylor","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Yerang","family":"Hur","sequence":"additional","affiliation":[{"name":"SDRL Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Rajeev","family":"Alur","sequence":"additional","affiliation":[{"name":"SDRL Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Insup","family":"Lee","sequence":"additional","affiliation":[{"name":"SDRL Laboratory University of Pennsylvania Philadelphia, PA USA"}]},{"given":"Greg","family":"Grudic","sequence":"additional","affiliation":[{"name":"Department of Computer Science University of Colorado at Boulder Boulder, CO USA"}]},{"given":"Ben","family":"Southall","sequence":"additional","affiliation":[{"name":"Sarnoff Corporation Princeton, USA"}]}],"member":"179","published-online":{"date-parts":[[2002,10,1]]},"reference":[{"key":"bibr1-0278364902021010981","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-46430-1_5"},{"key":"bibr2-0278364902021010981","doi-asserted-by":"publisher","DOI":"10.1109\/5.871304"},{"key":"bibr3-0278364902021010981","volume-title":"Behavior-Based Robotics.","author":"Arkin R.","year":"1998"},{"key":"bibr4-0278364902021010981","doi-asserted-by":"crossref","unstructured":"Baker S., and Nayar S. 1998. 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