This paper presents MuRoS, a simulator for multi-robot
cooperation. Developed using object orientation, MuRoS has a
friendly user interface and can be easily extended with the
development of new classes and the implementation of new robots,
controllers and sensors. Both tightly coupled and loosely coupled
cooperative tasks can be simulated and studied. We show the
implementation of two of these tasks in the simulator: Forage and
Cooperative Manipulation, and discuss important results related to
cooperative robotics such as scalability, communication and hybrid
control.
