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Multirobot cooperation on virtual environment using Volunteer Based Cooperation Protocol

We develop an experimental platform for heterogeneous multirobot cooperation which has both advantages of two evaluations means for multirobot cooperation, experiment with real robots and simulation. In this system, the real robots interact with the virtual environment and efficient evaluation of the multirobot cooperation in various kinds of work fields is possible. Volunteer Based Cooperation Protocol is proposed to reduce communication cost required in the multirobot cooperation.