关键词: 关键词：多机器人系统, 协同模型, 元组空间, 事件

Abstract: Abstract： In the field of multi-robot coordination， although the traditional coordination model solves the problems of information interaction， sharing and communication between collaborative entities， the decision-making mechanism required by the complex and changeable collaborative environment is not supported at the model level and can only be implemented through applications， which leads to difficulties in the development of collaborative systems and affects the execution efficiency of the collaborative decision-making process. To solve the problem that traditional coordination models cannot flexibly support user decisions， this paper proposes an event based tuple space coordination model DEBC （Decision and Event Based Coordination） with decision-making capabilities. The DEBC model introduces a decision mechanism into the tuple space framework， and partially abstracts the collaborative tasks of the application layer. By giving the tuple space a set of operations to support decision-making， the development of collaborative applications has a high degree of flexibility and adaptability. At the same time， the event mechanism is introduced to ensure the flexibility and efficiency of the collaborative behavior between collaborative entities. Finally， an example of DEBC model is analyzed and compared with the existing models through experiments. It is verified that DEBC model has good expression ability and higher execution efficiency， and the decision mechanism and event mechanism it provided are widely applicable.

Key words: Key words： multi-robot system, coordination model, tuple space, event