This paper is on balancing reactivity and deliberation in cooperative multi-robot systems. We outline which are the challenging issues that has to be addressed to get an effective solution. Then, a balancing method, based on introducing a concept of "Map Focus", is proposed. The framework is also enhanced with "Cooperative Behaviors", useful for robotic cooperation for accomplishing tasks in dynamic environments. We provide the details of the implementation and of the experimental results.
['Stefano Carpin', 'Carlo Ferrari', 'Enrico Pagello', 'Pierluigi Patuelli']
Bridging Deliberation and Reactivity in Cooperative Multi-Robot Systems through Map Focus