关键词: 多机器人系统, 多媒体通讯, 会话建立, 多路复用

Abstract: H.324M is a standard made by ITMC for multimedia mobile terminals，which makes it possible to start multimedia communications in multi-robot systems.An efficient mobile multimedia transmission protocol stack based on H.324M standards has been developed，and one robot can process two or more messages simultaneously.And the time-saving method will speed up the session establishment before two or more robots start their multimedia communications.Comparison and experiments are also made between the presented method in this paper and the recommended one in the recommendation H.324M，and results from the comparison show that the previous method is really better than the latter one，half the time can be saved.

Key words: multi-robot systems, multimedia communications, session establishment, multiplexing