Often, the complexity of some physical interaction tasks requires the use of more than one robot. Accomplishing such tasks with a single robot integrating several features would lead to a very big and complex platform. The multi-robot solution appears to be the more suited in this scenario, e.g., in construction applications where assembly tasks and the manipulation of bulky elements require the application of high forces and torques in several points of the transported object. On the other hand, the coordination of a multi-robot system implies additional challenges involving modeling, control, stability analysis, motion planning, perception, etc.