The Martha 1 project objectives are the control and the management of a eet of autonomous mobile robots for transshipment tasks in harbours, airports and marshaling yards. Our presentation focuses on one of the most challenging and key problems of the Martha project: the multi robot cooperation. Indeed, high level missions are produced by a Central Station and sent to robots. It is then up to the robots to re ne their missions, to plan their actions and trajectories in the environment and to coordinate these actions and trajectories with the other robots. In particular, these coordinations occur in crossings, in lanes when unexpected obstacles require the robot to move in the opposite lane, and in open areas where robots need to synchronise their trajectories.We present a general concept for the control of a large eet of autonomous mobile robots which has been developed, implemented and validated in the framework of Martha.Numerous researches have been conducted in the autonomous mobile robot eld, nevertheless, the Martha project is the rst one to add the multi robot cooperation capabilities to such a large eet of robots.The Martha robots demonstrate advanced autonomous features including non-holonomic motion planning, environment modelling, sensor-based obstacle avoidance, and decentralised cooperation schemes at mission and trajectory levels.

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The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the community, often in the form of open-source projects. However, these projects are generally self contained with little reuse between them. This paper presents a software engineering approach that intends to grant middleware independance to robotic software components so that a clear separation of concerns is achieved between highly reusable algorithmic parts and integration frameworks. Such a decoupling let middlewares be used interchangeably, while fully benefitting from their specific, individual features. This work has been integrated into a new version of the open-source G en oM component generator tool: G en oM3.