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In this paper we focus on a heterogeneous robotic system of decentralized autonomous agents with a leader; which we call "Super-Mechano-Colony " or "SMC ". It has characteristics of both hierarchical and distributed control systems. This paper explains the basic concept and a physical test bed of Super-Mechano-Co/ony, and discusses one example, specifically planetary rovers, for SMC.

In this paper, we focus on a new omni-directional vehicle ""The Vuton-II"" that was developed for use as a transport vehicle to operate within factories, hospitals and warehouses. This vehicle is composed of using three or more ""Omni-Discs"". Its mechanism ensures that individual wheels of the assembly are always aligned in the same direction, and can always roll freely. The Vuton-II is designed to be low in cost, short in stature, and to bear a reasonably high payload.

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