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Abstract
Cooperation among robots in multi-robot systems is called MRC (Multi-Robot Cooperation) and is defined by four cooperation modes. Measures of cooperation levels are defined. The design problem of how much cooperation to design is presented, and an analysis is described for systems with 2, 3, 4 and 5 cooperating robots. Production rate and cost effectiveness are used to compare various combinations of systems with and without cooperation. This is part of an extensive study on multi-robot systems characteristics that has been recently completed.