“…On the other hand, there are a lot of challenges that must be met in order to design effective and robust systems that are able to solve problems or execute tasks. These challenges were discussed in [12] and it is enough to point out the problems like coordination [2], [4], [5], [13], [14] task division [3], [7], [10], [17], cooperation [1], [7], [8], [15] etc. The potential advantages of MAS were quickly noticed by researchers who deal with problems related to Robotics.…”