- This publication derives a flexible and hierarchical fleet control system incorporating a generic drive concept. The implementation of the fleet control has been made available as an open source package. It allows the flexible composition of multiple robot units into an overall unit for the accomplishment of an overall task, e.g. the cooperative transport of a load that would be too heavy for a single system. The control unit of each robot is presented as a stackable electronic solution, which becomes a general-purpose drive system through a generic software stack. Various experiments show the superiority of this hierarchical approach over the state of the art.