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The goals of this research are to produce intelligent, flexible, reactive behaviors and methods for specifying and communicating information between multiagent teams. In particular we have been studying three closely related subjects: * Formation Control - to allow teams of robotic agents to move in a coordinated manner through a potentially hostile environment without interfering with other active navigational behaviors. * Teleautonomous Control of Multi-agent Teams - to allow a massive reduction in cognitive workload for the control of a group of robotic vehicles by permitting commands to be specified at the team level rather than at the individual agent level. * Team Mission Specification Methods - to provide robust and flexible mission specification for reactive team military scenarios. (KAR) p. 4