This seminar deals with the coordination of a fleet of robots using the acoustic channel. The acoustic perception is used both for detecting the position of an acoustic source, which is a typical problem in surveillance tasks, and for communication among robots using DTMF tones. The position of an acoustic source is detected using circular microphone arrays located on each robot of the fleet. The acoustic localization algorithm is based on Generalized Cross-Correlation (GCC) estimation and neural networks. Experimental results describing acoustic localization performances and an example of robot coordination using fuzzy rules are briefly described.