  This paper describes Resh, a new, statically typed, interpreted programming
language and associated runtime for orchestrating multirobot systems. The main
features of Resh are: (1) It offloads much of the tedious work of programming
such systems away from the programmer and into the language runtime; (2) It is
based on a small set of temporal and locational operators; and (3) It is not
restricted to specific robot types or tasks. The Resh runtime consists of three
engines that collaborate to run a Resh program using the available robots in
their current environment. This paper describes both Resh and its runtime and
gives examples of its use.
