This paper presents the development of the robotic multi-agent system SMART. In this system, the agent
concept is applied to both hardware and software entities. Hardware agents are robots, with three and
four legs, and an IP-camera that takes images of the scene where the cooperative task is carried out. Hardware
agents strongly cooperate with software agents. These latter agents can be classified into image processing,
communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, a kind of PetriNet, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system
