本文提出面向任务集成的自主式移动机器人体系结构，组成一个由分布式黑板协调和组织的多智能体系统，具有自组织、自适应的特点．应用离散事件系统的监控理论，建立单个智能体的ＤＥＳ模型，给出其满足一定运行指标的监控器，并证明整个系统的可控性 In this paper, task-oriented autonomous mobile robot architecture is proposed to form a multi-agent system coordinated and organized by distributed blackboards, which has the characteristics of self-organization and self-adaptation. Applying the monitoring theory of discrete event system, the DES model of a single agent is established, and its monitor that meets certain operating indexes is given. The controllability of the whole system is also proved