This video shows a real-time execution of the two tasks described in the paper, by a team of four mobile manipulators.  Task 1 requires the robots to pick up 12 tennis balls, arranged randomly on the floor, and place them in a receptacle.  Task 2 requires the robots to pick up the tennis balls and arrange them in a row.  The video shows the dynamic and spontaneous division of work among the team members, to meet the common task objective.