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Complez tasks are usually described as high-level goals, leaving out the details on how t o achieve them. However, to control a robot, details must be provided. Having the robot move itself i o and through an unknown, and possibly narrow, doorway is an ezample of such a task. W e illustrate ihe dificulty of such a task using actual data from. a real robot. W e show how the transformation from high-level goals to primitive commands can be performed at execution time and we propose an architecture based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. W e then show how our approach is used in solving the illustrated task.

We study the problem of dispersing a group of small robots in an unknown environment. The objective is to cover the environment as much as possible while staying within communications range. We assume there is no central control, the environment is unknown and with complex obstacles, the robots operate without any central control, and have only limited communications with other robots and limited sensing capabilities. We present algorithms and validate them experimentally in the Player/Stage simulation environment.

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