Service robots are currently not able to provide complex services because service robots with physical structures have been developed for a specific service and there is a limit to the tasks a robot can do alone. In this paper, we approach this problem by using multi-robot coordination services in which robots are linked and a wide range of services can be executed using the concept of semantic web service (SWS). SWS facilitates the automation of discovering and combing processes that are multiple web services. Service robots execute a service as a combination of the processes that one or multiple robots can execute. The process can be executed as the combination of multiple program modules. Therefore, we propose a multi-layer architecture. In this case study, we show how to automatically execute coordination services using our architecture and evaluate the usability of our architecture.