目前在多机器人领域，对组织、团队和群体概念比较混乱，团队形成的研究大都停留在定性分析阶段。借鉴Markov过程和进化计算，从协作主体层和能力层研究了机器人团队和组织的区别及团队的形成机制。提出并全面描述了一个机器人团队形成的动态演化模型，目前国内外尚无类似模型。该模型不仅能对机器人团队有一个整体描述，而且能定量描述团队形成时的动态演化过程。

At present, there are some conception confusions about organization, team and group, and also team formation is still in qualitative analysis phase in multi-robot field. The paper, using Markov course and evolution calculation theory for reference, researches the difference between team and organization in conception and the formation mechanism of robot team from cooperative entity layer and ability layer. This paper proposes and describes a dynamic evolution model about robot team formation. There hasn't been a similar model at home and abroad now. The model can not only wholly describe robot team, but also quantitatively describe dynamical evolution course of the team formation.