On cooperation structure of multi-agent

This paper begins with an introduction of the current status of research on the multi_agent cooperation, then sixteen cooperation structures are provided according to the three dimensions, the completely of cooperation objective exchanging of both sides exists, and the number of both sides. Furthermore, a set of communication primitives is designed for multi_agent cooperation. Finally, algorithms of realizing the cooperation structures that presented in this paper and a typical example on multi_agent cooperation was described.