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

摘要： 针对多机器人领域Mission级任务研究滞后于Task级任务研究的问题，提出了一种MTB三层多机器人任务体系结构。模拟蜜蜂和蚂蚁等社会性生物的交哺行为，提出了一种多机器人系统Mission级任务一致性保持方法。建立了该方法的数学模型。仿真结果表明该方法具有很好的鲁棒性、可靠性和系统可扩展性。

关键词: 多机器人系统, 交哺行为, 任务, 一致性