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In the field of robotics, typical, single-robot systems encounter limits when executing complex tasks. Todays systems often lack flexibility and inter-operability, especially when interaction between participants is necessary. Nevertheless, well developed systems for robotics and for the cognitive and distributive domain are available. What is missing is the common link between these two domains. This work deals with the foundations and methods of a middle layer that joins a multi-agent system with a multi-robot system in a generic way. A prototype system consisting of a multiagent system, a multi-robot system and a middle layer will be presented and evaluated. Its purpose is to combine highlevel cognitive models and information distribution with robot-focused abilities, such as navigation and reactive behavior based artificial intelligence. This enables the assignment of various scenarios to a team of mobile robots.