Alur, RajeevDas, Aveek JKumar, R. VijayEsposito, JoelLee, InsupFierro, RafaelGrudic, GregoryPappas, George JHur, YerangTaylor, Camillo JOstrowski, JamesSouthall, B.Spletzer, John R2023-05-222023-05-222002-10-012005-06-28https://repository.upenn.edu/handle/20.500.14332/6193In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment with applications ranging from scouting and reconnaissance, to search and rescue and manipulation tasks. Our software framework provides the methodology and the tools that enable robots to exhibit deliberative and reactive behaviors in autonomous operation, to be reprogrammed by a human operator at run-time, and to learn and adapt to unstructured, dynamic environments and new tasks, while providing performance guarantees. We demonstrate the algorithms and software on an experimental testbed that involves a team of car-like robots using a single omnidirectional camera as a sensor without explicit use of odometry.The final, definitive version of this article has been published in the Journal, International Journal of Robotics Research, Vol 21/Issue Number 10-11, 2002, © SAGE Publications, Inc., 2002 by SAGE Publications, Inc. at the International Journal of Robotics Research page: http://ijr.sagepub.com/ on SAGE Journals Online: http://online.sagepub.com/CPS Model-Based DesignCPS Formal MethodsArticle