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It is group of automatic machines, which can move from one place to another, in a given environment. The importance of mobile robots is now growing in industry due to their growing abilities and unfailing control. One of the main inspirations is that multi-robot systems can be used to increase the system effectiveness. That is, with respect to a single independent robot, a multi-Robot System can perform a task in less time and high quality, can achieve tasks not executable by a single robot (e.g., moving a large object) or can take benefits of distributed sensing and actuation. Moreover, instead of building and using a single dominant robot, a multi-robot solution can be easier and cheaper, can provide suppleness to tasks implementation and can make the system more redundant.