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This paper describes Resh, a new, statically typed, interpreted programminglanguage and associated runtime for orchestrating multirobot systems. The mainfeatures of Resh are: (1) It offloads much of the tedious work of programmingsuch systems away from the programmer and into the language runtime; (2) It isbased on a small set of temporal and locational operators; and (3) It is notrestricted to specific robot types or tasks. The Resh runtime consists of threeengines that collaborate to run a Resh program using the available robots intheir current environment. This paper describes both Resh and its runtime andgives examples of its use.

The Resh Programming Language for Multirobot Orchestration