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自主机器人车辆具有智能性和快速反应的特点，而在精确推理和实时性之间寻求最佳折衷是体系结构的关键．文中提出基于分布式多Ａｇｅｎｔ系统的自组织体系结构ＩＲＡＳＯ，Ａｇｅｎｔ之间动态组合以适应环境变化，公告板系统评估环境势态和指导Ａｇｅｎｔ组织，同时设计了Ａｇｅｎｔ协调工作的空间和时间模型．基于ＴＣＰ／ＩＰ的计算联通域为异质分布式多Ａｇｅｎｔ的协作运行提供支持．仿真结果表明该结构在智能性和实时性达到了期望特性．
Autonomous robotic vehicles are intelligent and responsive, and finding the best compromise between exact reasoning and real-time is key to the architecture. In this paper, a dynamic combination of IRASO and Agent based on distributed multi-agent system is proposed to adapt to environmental changes. The bulletin board system evaluates the environmental situation and guides the Agent organization. At the same time, it designs the space and time model of Agent coordination. The TCP / IP-based computing connectivity domain provides support for the cooperative operation of heterogeneous distributed multi-agent. Simulation results show that the proposed structure achieves the desired characteristics in terms of intelligence and real-time performance.