Securing area with robots under BML control

Securing larger areas with multi-robot systems is a challenging task when you want to have multiple robots controlled by only one person in an efficient way. One way to do this is to let the commanding person express high-level tasks and to build an intelligent multi-robot system (MRS) that can execute these high-level tasks and provide aggregated feedback to the commander. We implemented such an approach by using Battle Management Language for defining high-level tasks. In this paper we will show how tasks are disaggregated, scheduled and distributed among the robots of the MRS.