Programming a multi-agent system with MASL

Expressing the general behaviour of a set of robots working together is a difficult task. Self reconfigurable robots or a team of robots playing football are examples of such problem. To control a set of homogeneous or heterogeneous robotic components, one needs to express synchronous and asynchronous computation, from a local or a global point of view. In this paper we propose a unique language to express the behaviour of a set of heterogeneous robots.