Mobile robotics research has spent much of its time dealing with the workings of one robot at a time. Techniques have been studied for a robot interacting with its environment, with tools, and with humans. We are currently exploring the possiblities of using multiple robots to solve problems in a changing workspace by having them work in parallel, and communicate when necessary. The goal of this work is to create a foundation theory which specifies, for a given task, the most reliable, efficient and robust means of interaction between a number of robots. This means that the task will be carried out regardless of robotic failures or communication breakdown. We are currently working in simulation on a system of Sun Sparcs, but our ideas will eventually be tested on three Denning MRV robots.