Multi-robot cooperation is one of hotspots in research on robotics and artificial intelligence currently.To solve the problem of task allocation in multi-robot system

hybrid control architecture based on centralized control and distributed control is applied to accomplish multi-robot cooperation in task level.When robots receive the information provided by sensors

the task is distributed according to contract net protocol.Finally multi-robot cooperation is accomplished.The simulation of multi-robot tracking and formation experiments in player/stage platform shows that the algorithm is effective.