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1引言多Agent系统是DAI的一个重要分枝，它越来越引起人们的兴趣和关注．但由于缺乏合适的分析工具，目前所研制的多Agent系统大都是经验性的［”’］．即使有一些关于多Agent的理论工具，但因太过于一般而很难在实际中发挥作用‘’］．多个自主机器人的协作系统是一种典型的分
1 Introduction Multi-Agent system is an important branch of DAI, it is more and more aroused people’s interest and attention. However, due to the lack of appropriate analytical tools, the multi-agent systems developed at present are mostly empirical [1]. Even though there are some theoretical tools about multi-agent, they are too difficult to be effective in practice. The collaboration system of multiple autonomous robots is a typical subdivision