Robotic systems are often quite complex to develop; they are huge, heavily constrained from the non-functional point of view and they implement challenging algorithms. The lack of integrated methods with reuse approaches leads robotic developers to reinvent the wheel each time a new project starts. This paper proposes to reuse the experience done when building robotic applications, by catching it into design patterns. These represent a general mean for (i) reusing proved solutions increasing the final quality, (ii) communicatEmail addresses: chella@unipa.it (Antonio Chella), cossentino@pa.icar.cnr.it (Massimo Cossentino), gaglio@unipa.it (Salvatore Gaglio), sabatucci@dinfo.unipa.it (Luca Sabatucci), seidita@dinfo.unipa.it (Valeria Seidita) Preprint submitted to Systems and Software October 21, 2009 ing the knowledge about a domain and (iii) reducing the development time and effort. Despite of this generality, the proposed repository of patterns is specific for multi-agent robotic systems. These patterns are documented by a set of design diagrams and the corresponding implementing code is obtained through a series of automatic transformations. Some patterns extracted from an existing and freely available repository are presented. The paper also discusses an experimental setup based on the construction of a complete robotic application obtained by composing some highly reusable patterns.