In this thesis, based on the background of the wheeled mobile robot cooperation control, the multi-robot team formation is studied.

本文以轮式移动机器人协调控制为背景，对多机器人的编队行为进行了研究。

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At present, there are some conception confusions about organization, team and group, and also team formation is still in qualitative analysis phase in multi-robot field.

目前在多机器人领域，对组织、团队和群体概念比较混乱，团队形成的研究大都停留在定性分析阶段。

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