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中文摘要：
本文旨在从宏观上建立一个通用、开放、适应于非结构及不确定环境下面向复杂任务的多机器人体系结构：自组分层式结构（SCLA）．系统由上而下分成三层：指挥层、协调层和执行层．指挥层负责系统的全局规划和任务分配，对协调层直接管理．协调层负责带领所“管辖”的执行层成员完成指挥层分配的任务．执行层利用环境感知模块和运动控制模块顺序完成具体动作序列．系统采用“指令”通信模式和结构重组的策略来实施不确定环境下的协作任务．仿真实验表明自组分层式多机器人体系结构具有较高的鲁棒性和容错性，对任务和环境具有较好自适应性．
英文摘要：
This paper presents a general open architecture of multi-robot： self-configurable and layered architecture of multi- robot （SCLA）, which can execute complex mission in non-structural and uncertain environments. Commanding layer, coordi nating layer and executing layer are the three layers of SCLA from up to down. Commanding layer takes charge of global planning and allocation, supervising the coordinating layer directly. Leading executing layer to carry out a given sub-mission is the coordinating layer＇s main responsibility. Then some given behaviour will be completed by the executing layer through environment sensing and motion control. Instruction communication and self-configuration strategy are adopted by SCLA to achieve synergie mission in uncertain environments. The simulation results indicate that SCLA is robust, fault-tolerant also to environment and mission.
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