The multi-robot system has been brought by the increasing needs for computer controlled factory automation, where improved sensing capabilities and powerful robot language can be fully utilized. A new robot programming language, ARL (Assembly Robot Language) has been developed, which can drive multi-robot and interact with various external devices, but it was not implemented in a real robot system. In this thesis, the design of a hierarchical control structure for multi-robot system is discussed and ARL is implemented in that structure. The structure consists of two hierarchical levels for the coordinated control of multi-robot. The lower level is responsible for servoing each robot, which is robot dependent part, and the higher level is responsible for task planning, robot independent part. With this structure, modularity and flexibility of the robot system are maintained. Through experiments, in which two Rhino robots execute coordinated motion, the effectiveness of ARL is verified. And at the same time, some problems are pointed out for more improvement of ARL.
