This paper presents a model for the control of autonomous robots that allows cooperation among them. The control structure is based on a general purpose multi-agent architecture
using a hybrid approach made up by two levels. One level is composed of reactive skills capable
of achieving simple actions by their own. The other one uses an agenda used as an opportunistic
planning mechanism to compound, activate and coordinate the basic skills. This agenda handles
actions both from the internal goals of the robot or from other robots. This two level approach allows
the integration of real-time response of reactive systems needed for robot low-level behavior, with a
classical high level planning component that permits a goal oriented behavior. The paper describes
the architecture itself, and its use in three different domains, including real robots, as well as the
issues arising from its adaptation to the RoboCup simulator domai
