This paper presents a cooperative control method for multiple mobile robots with local sensors. The method consists of two steps. In the first step, we design global control plans for multiple robots, which include task allocation, and task change plans to complete the goal. In the second step, we design control logic and error recovery method for individual robots. Sensor information is integrated by merging similar sensor states together using AND/OR logic. Unique control commands are generated by eliminating logical conflicts using transition firing sequences in the Petri nets. Errors are recovered by changing control commands dynamically using reference and control models. To demonstrate the effectiveness of the proposed method, the object-searching task is evaluated. This task is to search an object like a box using two robots, and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results of the object-searching task, the wall tracking task, and the error recovery methods are presented.