The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general,
is responsible for control of its effector, perception of the environment for the purpose of its effector control, and interagent communication.
The behaviour of the agent is governed by its set of transition functions. The control system consists of two tiers - the upper tier is defined
by the flow of information between the agents and the lower tier is defined by formal specification of each agent's behaviour (influence on
the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents
one of the examples of utilization of this approach. The example concerns the multirobot drawing copying system.