  We present the design and implementation of a decentralised, heterogeneous
multi-robot system for performing intelligence, surveillance and reconnaissance
(ISR) in an unknown environment. The team consists of functionally specialised
robots that gather information and others that perform a mission-specific task,
and is coordinated to achieve simultaneous exploration and exploitation in the
unknown environment. We present a practical implementation of such a system,
including decentralised inter-robot localisation, mapping, data fusion and
coordination. The system is demonstrated in an efficient distributed
simulation. We also describe an UAS platform for hardware experiments, and the
ongoing progress.
