中文摘要：

为了适应多移动机器人系统中机器人的异构性和任务的复杂性，提出了一种基于构件的多移动机器人软件体系结构．针对不同结构机器人和不同功能需求，集成相应的感知、执行机构、信息融合、通信和决策等构件，组成不同的智能体，协作完成一个任务．构件和组合构件用可扩展标记语言（XML）文件实现自我描述．组合构件是构件的容器，负责管理内部构件．实验结果表明该体系结构具有很强的可复用性和伸缩性．

英文摘要：

In this paper, a component-based software architecture for multi-mobile robot, which adapts to heterogeneous robots and complex tasks, is presented. In the proposed architecture, different components such as sensor, actuator, data fusion, communication and decision, are integrated into an Agent for a special functional robot, and several Agents complete a task by collaboration. Moreover, components and composite components are selfdescribed with extensible markup language （ XML）, and the latter are used as the containers and managers of internal components. Experimental results show that the presented architecture is reusable and flexible.