Title Instantaneous Actions vs. Full Asynchronicity: Controlling and Coordinating a Set of Autonomous Mobile Robots Authors Giuseppe Prencipe, Dipartimento di Informatica, Universita' di Pisa Main Fields Abstract + Keywords Over the past few years, the focus of robotic design has been moving from a scenario where few, specialized (and expensive) units were used to solve a variety of tasks, to a scenario where many, general purpose (and cheap) units were used to achieve some common goal. Consequently, part of the focus has been  to better understand how to efficiently coordinate and control a set of such simpler'' mobile units. Studies can be found in different disciplines, from engineering to artificial life: a shared feature of the majority of these studies has been the design of algorithms based on heuristics, without mainly being concerned with correctness and termination of such algorithms. Few studies have focused on trying to formally model an environment constituted by mobile units, studying which kind of capabilities they must have in order to achieve their goals; in other words, to study the problem from a  {\em computational} point of view. This paper focuses on two of these (the only ones, to our knowledge, that analyze the problem of coordinating and controlling a set of autonomous, mobile units from this point of view). First, their main features are described. Then, the main differences  are highlighted, showing the relationship between the class of problems solvable in the two models. Keywords: distributed coordination, mobile robots, asynchronicity.