**4. Net based multiple robot coordination**

A coordination task of carrying parts from a machining station to depository is considered as an example application using multiple robots. An arm robot picks up a part from the station and loads it into a mobile robot by which the part is sent to the storehouse. The arm robot is equipped with a visual sensor via which it can recognize the parts as well as their positions and also equipped with a force sensor which is necessary for grasping and loading the parts. On the mobile robot, a radio transceiver is used for its communication sending back feedback information from the sensors and receiving the control information from the main controller. The visual sensor is used for landmark recognition in the environment and infra-red sensors are used for obstacle avoidance. Figure 12 shows the arm robot and the mobile robot.

**Figure 12.** View of experimental robot systems: (a) arm robot, (b) autonomous mobile robot with radio transceiver and visual sensor
