分散机器人系统中多机器人的协同运动分为个体动作和协作动作。针对个体运动中的冲突度量，提出了两种避免冲突的资源管理方法和一种解决冲突的多级冲突解决方法。

COOPERATIVE MOTION OF MULTIPLE ROBOTS IN A DECENTRALIZED ROBOTIC SYSTEM IS CLASSIFIED INTO INDIVIDUAL ACTION AND COLLABORATING ACTION. FOR CONFLICT MEASURE IN INDIVIDUAL MOTION, TWO TYPES OF RESOURCE MANAGEMENT FOR CONFLICT AVOIDANCE, AND A MULTI-LEVEL CONFLICT RESOLUTION FOR CONFLICT RESOLUTION ARE PROPOSED.