Abstract: A delegation model for multi-robot autonomous cooperation with periodicity constraints is presented to solve the drawbacks in restrictions of task revocation and dismission of traditional algorithms,which attempts to find a balance between controllability and flexibility.It can effectively control the robots with assigned and delegated tasks,but not enforce too strict constraints on delegation so that raising the difficulty in the policy definition and model construction.The pro-posed model solves the problem that there is no support for time constraint in the current multi-robot cooperation model.A delegation model for cooperation supporting the temporary constraints,the temporal dependencies constraints and the prop-agation constraints is presented.Temporal cooperation is controlled by the periodic time,used times and valid period,the temporal dependency between cooperations is controlled by the derivation rule,and the propagation of delegated privileges is controlled by the delegation depth.This paper also gives formal definition for the model.