Need suggestions for a Multi-agent system.

This is for my Bachelor thesis. My task is to develop a system of multi agent system and my guide wants me to use heterogenious robots and make them perform some coordinated tasks (preferably with a human involved). The robots I have at my disposal are 2 humanoid and a 6dof manipulator and some small wheeled robots that just move around. Can you suggest some ideas or any algorithms that can be of use to me.

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