Then, the communication model for MARS is deeply studied, the MARS fitted model of high layer communication and topology structure of under layer network are provided.
然后对多智能体机器人系统的通信模型进行了深入研究，给出了适合MARS的高层通信模型和底层网络拓扑结构；
The structure, communication model and functions of the monitoring network are studied mainly.
重点研究了监控网络的系统结构、网络通讯模式和功能分布。
The application of CAN bus communication network and modularized structure improve the communication rate and ensure the reliability of communication.
CAN总线通讯网络和模块化结构的应用，提高了通讯速率，保证了通讯的可靠性。
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