I. Introduction
In this world of automation and artificial intelligence, robotics are becoming more and more intertwined with human lives. Not only that robots are taking over the human tasks but also are now capable of completing those tasks efficiently. Robots can be categorized into three, they can be humanoid robots, mobile robots and manipulators. The type of robots focused in this paper is multiple mobile robot systems (MMRS), in this type of systems the robot navigates through the environment to complete the provided task. While discussing about the multi-robot system, often it can be mistaken with the distributed artificial intelligence (DAI) and multi-agent system (MAS). These are distinct concepts when compared to multi robot system (MRS). Traditional distributed system where discrete nodes are immobile are usually referred as MAS. The focus of DAI is mainly with a problem where software agents are involved.