中文摘要：

针对狭小非结构环境下的自主作业任务，研制微型移动机器人已经成为特种机器人的研究热点，但机器人的微型化限制了机器人个体智能的提高，因此，通过多个机器人之间相互合作的集群智能来弥补个体智能不足的研究途径具有突出的优势。从相关理论和关键技术等方面，系统地总结了微型移动机器人集群系统的研究现状，分析了目前存在的技术难题，并指出了未来研究的发展方向。

英文摘要：

To facilitate automatic operation in narrow and unstructured environments, autonomous micro mobile robot is highly demanded, however, in practice, miniaturization of robot dimension limits development of individual intelligence of each robot. This limitation leads us to employ cooperation approaches to improve global swarm intelligence of a multi-robot system. In the aspects of relative theories and technologies, this paper summarizes the state of the art in swarm systems of micro mobile robots systematically, analyzes the current main issues and indicates the prospective research direction in the future development.