As for the pursuing task, the cooperation mechanism based on Social Laws in MAS coordination theory is applied to group the patrolling robots and each group of robots corresponds to one target.

• 对于围捕任务,本文根据多智能体协调理论中的社会规则理论和本文所要研究的多机器人围捕任务,建立了适当的社会规则,对巡逻机器人群体进行分组,每组机器人形成一个追捕团队围捕一个目标。