Multi-robot systems (MRSs) are an important part of robotics research. In the late 1980s, a group of scientists began investigating this direction of research. A series of projects have been realized successfully, such as ACTRESS [1], GOFER [2], CEBOT [3], ALLIANCE [4], M+ [5], MURDOCH [6] and ASyMTRe [7]. One of the major
challenges for MRSs is to design appropriate coordination strategies between the robots that enable them to perform operations efficiently in terms of time and working space.