(1) The architecture of the distributed multi-agent gradually takes advantage of it; (2) From the research of hardware and single technology to the development of a general software development platform; (3) Behavior-based methods will be integrated with traditional planning and control methods; (4) Emphasis on group collaboration theory, methods and techniques for task-changing, unstructured environments and local perception conditions; (5) Requires high self-organization, self-learning, and adaptability; (6) While emphasizing autonomy, it is still necessary to continuously improve the coordination between humans and multi- robots ; (7) Emphasizing the real machine approach in experimental research and developing real and high-ability and high-adaptive capabilities in real-world environments; (8) The demand for special applications, manufacturing and service industries is increasingly urgent. China's research work in this field has already started. Under the support of the 863 Program and the Natural Science Foundation, after years of continuous research, there have been a number of units in China, which have achieved a high level of research in local areas, and the experimental research has also been obvious. Improvements have achieved initial results in terms of architecture, coordinated control and experimental research. After 20 years of development, the research on multi-mobile robot collaboration system has achieved certain results, but it has also encountered many difficulties, especially the basic research in the field of complex system control and distributed intelligence is obviously insufficient, lacking strong theory and technology. Support, and most of the technology is more demanding on the environment, most of the experiments are carried out in artificial or semi-manual environments, which limits the development of multi-mobile robot systems and the transformation to practical systems. In summary, in the face of real world unstructured and dynamic characteristics, high adaptability, high robustness, and high flexibility of collaboration theory, methods and technologies will be the focus of future research.
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