Preface

*Robotics Software Design and Engineering* presents results from the scientific community in robotics, artificial intelligence, embedded systems, multi-robot systems, and Industry 4.0, among other interesting topics. The chapters explore robotics applications and related challenges, including interaction protocols, robot software frameworks, robots with residual degrees of freedom, evolution of algorithms for Quality of Service (QoS) control, autonomous robots, system-on-achip (SoC) designs, interfaces for simulation and control development, autonomous driving, and autonomous cooperative transportation.

**II**

**Chapter 9 143**

**Chapter 10 155**

A Distributed Approach for Autonomous Cooperative Transportation

Interaction Protocols for Multi-Robot Systems in Industry 4.0 *by Edi Moreira M. de Araujo, Augusto Loureiro da Costa* 

*by Amar Nath and Rajdeep Niyogi*

*and Alejandro R.G. Ramirez*
