Concerning the problems of lacking the mind states and task handling capability,low real-time caused by congested bandwidth and slow learning from negotiation history,a task negotiation model for multiple mobile-robots was proposed.Firstly,the basic moving state of robot was shown.Secondly,the states of mind(belief,goal,intention,knowledge update,etc.) and ability(cooperation,capability judgment,task allocation,etc.) based on π calculus for the negotiation of multiple mobile-robots were defined.Thirdly,the negotiation model of multiple mobile-robots was constructed,in which the negotiation period,negotiation task,utility estimation,negotiation allocation protocol,learning mechanism were studied.Finally,the validity of model was proved through experiments of robot soccer.