Within Co4Robots, our goal is to build: A systematic real-time decentralized methodology to accomplish complex mission specifications given to a team of potentially heterogeneous robots, A set of control schemes appropriate for the mobility and manipulation capabilities of the considered robotic platforms, their types and dynamics, the unexpected and sudden changes in the environment, as well as the presence of humans, A set of perceptual capabilities that enable robots to localize themselves and estimate the state of their highly dynamic environment, in the presence of strong interactions and in a collaborative manner, and Their corresponding systematic integration at both the conceptual and the software implementation levels.