中文摘要：

针对分布式系统，尤其是多机器人系统中协同控制问题的研究需要，提出了一种具有分层嵌套结构的多Agent仿真环境设计方案，以克服现有仿真环境存在的兼容性差和算法移植困难的问题。设计方案在系统总体结构中引入了层次多Agent的设计思想；在子系统中采用Acromovi结构框架设计；在个体Agent中采用了混合型的内部结构设计。具体应用于多机器人仿真环境设计中，通过不同的实验配置方案，逐步实现多机器人系统的虚拟仿真和半实物仿真。最终的多机器人编队控制实验表明了设计方案的有效性。

英文摘要：

A layered and nested multi-agent simulation environment design was proposed for cooperation control study on distributed system, especially on a multi-robot system, in order to overcome the incompatibility and algorithm transplant problem in current simulation environment. In the design, a layered method was adopted in system framework, then an Acromovi framework was introduced in the subsystem design, and a hybrid construction was adopted in standalone agent design. By using the above scheme and different experimental configurations, the virtual simulation and HIL simulation of a multi-robot system were realized step-by-step. Finally, the feasibility of the scheme is validated by results of multi-robot formation control trials.