The overall objective of Chroma is to address fundamental and open issues that lie at the intersection of the emerging research fields called “Human Centered Robotics” and “Multi-Robot Systems (MRS)”. Our goal is to design algorithms and develop models allowing mobile robots to navigate and operate in dynamic and human-populated environments. Chroma is involved in all decision aspects pertaining to (multi)robot navigation tasks, including perception and motion-planning. Our approach for addressing this challenge is to bring together probabilistic methods, planning techniques and multi-agent decision models. This is done in cooperation with other disciplines such as psycho-sociologists for the purpose of taking into account human models. Two main research themes of robotic navigation are addressed : i) Perception and situation awarness in human-populated environment, by focusing on bayesian perception and sensor fusion ii) Scaling-up single and multi-robot motion-planning, by combining uncertainty modeling, decentralized (swarm) models and multi-agent sequential decision making. The Chroma team is also concerned with applications and transfer of the scientific results. We work with industrial and start-up partners. Our main application domains concern autonomous vehicle driving (with Renault and Toyota), aerial robots for surveillance tasks and services robotics.