One of the most important problems to the multi robot system is that, when the system is working in an unknown environment, it has to decide which tasks must be done by cooperation of several robots.
这一策略可以解决多机器人系统在未知环境工作时所面临的一项艰巨的任务：自主协作规划。
Then cooperation between many robots based on contract net is discussed. Finally, an implementation model of multi robot systems based BDI model is presented.
文章先从形式逻辑角度描述系统模型，然后讨论基于合同网的多机器人智能体的协作机制，最后给出基于BDI模型的多机器智能体的实现模型。
Through the study of formation control of multi-robots, this thesis studies the problem of multiple mobile robots path planning from two aspects of coordination and cooperation.
本文通过对多机器人编队问题的研究，从协调和协作两个方面来研究多机器人路径规划问题。
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