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分布、自主、协调与合作是多机器人系统的发展趋势．本文作者在研究易于协调合作的多机器人系统的基础上，采用分层递阶和多Ａｇｅｎｔ概念，构造了一个装配系统——ＭＲＯＣＡＳ系统．该系统具有任务自动建模分解，快速重组、良好柔性、友好人机界面，各机器人具有一定自主能力等特点．它实现了在较复杂环境下快速完成装配作业．
Distribution, autonomy, coordination and cooperation are the development trends of multi-robot system. Based on the research of multi-robot system that is easy to coordinate and cooperate, the author of this paper constructs an assembly system, the MOSCAS system, using hierarchical and multi-agent concepts. The system has the task of automatic modeling decomposition, rapid reorganization, good flexibility, friendly man-machine interface, the robot has a certain autonomy and so on. It enables quick assembly in more complex environments.