Abstract: The distributed control method in cooperative multiple mobile robot systems is studied. A grouping strategy and a multi-modal interaction method based on local observation and explicit communication Eave been adopted to realize real-time and efficient inter-robot cooperation. Based on the: finite state automata(FSA)model. a hierarchical &hybrid coordination architecture integrating high-level task planning and low-level re active control has been proposed to complete complex tasks in unstructured real environments. Case study of multi-robot cooperative trash collection and experimental results demonstrate the validity of the scheme.