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Definition 2
Robot team: Robot team is an organic group with tight connections, organized temporarily by individual robot based on tasks, can be seen as an autonomous domain. The cooperation of the robots in the autonomous domain is called inter-layer cooperation. And the cooperation between the autonomous domains, tight or loose, is called out-layer cooperation. The robot acts as the center of the organization with stronger communicating and organizing ability is called the group leader. The computing actions and a coordinating wills defined by the group leader represent the actions and wills of this group. The number of the robots in the robot teams is changing dynamically; any individual robot can join or quit dynamically. Definition 3
Robot society: the robot society is organized by all of the individual robots and robot groups that have connections, which is a large group with organization. The top: the topology of cooperation organization of the robot team is shown in Fig.1. In considering the special status of the ultimate user in the actions of the robot group, we list it as a single node in the top left in Fig.1. This model not only represents that the multi-robot system organization has the static and hierarchical character, but also embodies the dynamic character of the forming and cooperating process of the robot team.
During the cooperation, the multi-robot team changes with the environment and the demands of tasks. In the same time, the organization of the robot team can change in the same level and also between different levels. Besides, the robot members in the same autonomous domain can coordinates based on the grounds, and form the organization and architecture that is adaptive to the environment. In sum, the robot team is a kind of dynamically, which can keep a dynamic balance. 3. A formal description of the cooperative relationship in the robot team
3.1 A formal description of the robot team
The robot team is a problem-solving machine of loose coupling networks, which are beyond the ability of individual. Each robot in the network is an independent problems solving machine. Because none of these problem-solving machines has enough specialties, resource and information to solve the question, and different problem solving machines have different specialties to solve different aspects of the question; so to cooperate is a necessity. Definition 4
The individual robots and team leaders in different levels are unified called cooperate robots, abbreviation CR. Cooperative robots have to have certain abilities and make one's own income maximization. It uses a unified frame to describe CR:
CR= 1.id_cr, a identifier of the cooperative robot.
2.Capability, the ability of CR.
To a moving robot its ability mainly includes moving ability, action ability, sensible ability, communication ability, organization ability and learning ability, etc.
3.Resource, the robot has to need things for finishing his job.
4.Interface, interface way between the cooperative robots. Definition 5.
The multi-robot team structure formed with finite cooperative robots is a hierarchical-web structure. Rorg = < {CR}, Re > 1. {CR } , a set of the cooperative robot who carry out certain work in team .
2. Re , a dualistic relation set between CR robots, including the control relation structure in the vertical level and the cooperation relation in the horizontal direction. Re {CR}×{CR} Page 1, 2, 3, 4
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