c12 c12 c14 c7 c8 c11 c13 c6 c4 c29 c8 c21 c11 c13 c6 c15 c17 c12 c10 c27 c13 c29 c30 c26 c8 c21 c11 c13 c6 c15 c17 c20 c18 c16 c19 c20 c5 (d) c12 c12 c14 c27 c10 c11 c13 c29 c30 c1 c3 c8 c18 c27 c24 c10 c11 c13 c6 c29 c22 c4 c30 c28 c17 c5 c26 c21 c15 c2 c9 c25 c23 c22 c14 c7 c24 c4 c21 c17 c2 c26 c28 c15 (c) c6 c30 c3 c19 c25 c23 c22 c4 c16 c5 c8 c29 c1 c18 c27 c24 c10 c28 c3 c2 c9 c25 c23 c22 c4 c14 c7 c11 c1 c9 c19 c20 c5 c24 c7 c18 c16 (b) c14 c6 c21 c17 c2 c12 c8 c26 c28 c15 (a) c9 c30 c3 c19 c20 c25 c23 c22 c4 c16 c5 c7 c29 c1 c18 c27 c24 c10 c28 c3 c2 c26 c23 c30 c1 c9 c25 c22 c14 c7 c24 c10 c9 c27 c1 c3 c16 c15 c19 c20 (e) c2 c5 c25 c23 c26 c28 c21 c17 c18 c16 c19 c20 (f) Figure 4. Deployment of two unicycle robots in a rectangular environment containing four regions of interest. (a) The figure shows the environment, a triangular partition of this environment, and the initial positions of robots. (b) The red robot stops and waits for the blue robot, which shows that robots synchronize with each other when making transitions. (c)-(e) The different configurations reached during movement: the red and green regions are repeatedly visited, and whenever the red region is entered, the blue one is also visited. (f) The trajectories of the two robots. the agents that own the request must cooperate and service it simultaneously (i.e., they need to be at the states where the request occurs at the same time). These requests are called shared requests. Control and Communication Strategy for the Team In this top-down approach, a control and communication strategy for a team of robots requires more information SEPTEMBER 2011 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 81