Abstract
This article presents the multi-agent robotic system SMART. This system is integrated by different kind of software and / or hardware agent, so it can be classified as heterogeneous. Additionally, it is presented the development of a virtual reality interface through which a human user can acts on the system if it is necessary, otherwise the system operates autonomously. Also, this interface implements a different features aimed to achieve the performance of the whole system. The interface allows to reproduce the real scene and provides the user with information in real time what happens in reality. Because of heterogeneous system, communication between agents is made using different communication technologies (TCP / IP, WiFi and Bluetooth), therefore it was necessary to design a specific communication protocol that is described in this article.
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