  At present, the research on robot team cooperation is still in qualitative
analysis phase and lacks the description model that can quantitatively describe
the dynamical evolution of team cooperative relationships with constantly
changeable task demand in Multi-robot field. First this paper whole and static
describes organization model HWROM of robot team, then uses Markov course and
Bayesian theorem for reference, dynamical describes the team cooperative
relationships building. Finally from cooperative entity layer, ability layer
and relative layer we research team formation and cooperative mechanism, and
discuss how to optimize relative action sets during the evolution. The dynamic
evolution model of robot team and cooperative relationships between robot teams
proposed and described in this paper can not only generalize the robot team as
a whole, but also depict the dynamic evolving process quantitatively. Users can
also make the prediction of the cooperative relationship and the action of the
robot team encountering new demands based on this model. Journal web page & a
lot of robotic related papers www.ars-journal.com
