In this Poster paper, we present an overview of the results we achieved during two years in the context of the RTrack Project. In this project, we designed an indoor surveillance application where a team of mobile robots supported by a sensor network infrastructure cooperate together to track intruders. The surveillance application encompasses several challenges including localization, multi-robot task allocation, communication model, and path planning, for which we provided efficient solutions. This Poster paper illustrates the different research thrusts of the project and gives insight on challenges and concerns with respect to cooperation between mobile robots and sensor networks.