关键词: 多机器人系统, 交哺行为, 任务, 一致性

Abstract: The research on the mission of multi-robot system falls far behind the research on the task of multi-robot system.To solve the problem，a kind of three-level multi-robot task architecture named MTB is presented.Simulating the trophallaxis behavior of the social insects such as honey bees and ants，a kind of multi-robot systems mission consistency maintenance method is presented.The mathematic model of the method is established.Simulation results show that the method presented in the paper has very remarkable robustness，reliability and system scalability.

Key words: multi-robot systems, trophallaxis behavior, mission, consistency