Being different from the existing reactive behavior based cooperative transport method the cooperative transport problem with robots in the relationship of pusher-watcher is transformed into the multiple mobile robots formation control problem . Limits on real robot sensors and actuators are also considered .

与已有的反应式行为协作 运输不同，本文以观测者&推动者的 协作关系，将运输任务转换成多移动机器人编队问题，考虑了实际机器人的传感器和搬运机构的限制条件。

Nowadays the railway Transport industry of our country are developing rapidly and the passengers transport is changing gradually from the simplex mode to the complex and cooperative mode which consists of multiform traffic manner .

我国铁路运输事业目前正面临一个前所未有的大发展时期，铁路 客运也由过去落后单一的 运输模式逐渐转向与多种交通方式 共同 合作的新型 交通枢纽综合体。

In order to improve the transport capability and the service quality elevator control technology has been transferred from control of single elevator to the cooperative control of multiple elevators that is elevator group control .

为了提高电梯的 输送能力和服务质量，电梯的控制已经由单台电梯的控制发展为多台电梯的 协调控制，即电梯群控。