Advances in distributed system technology have created new possibilities for innovation in simulation and the creation of new tools and facilities that could improve the productivity of simulation. This paper describes a multi-agents based collaborative simulation system for autonomous undersea vehicles. Multi-agent and the collaborative module of agents are used to resolve the problem of the existing simulation system. The detail of every agent in the system is described. In addition, the collaboration of agents and the decision rules are also introduced. The paper then presents results of autonomous underwater vehicle (AUV) simulation tests on the system.