Abstract: To study an efficient,generic and loosely coupled multi-robot cooperative architecture,a layered architecture based on SOA(service oriented architecture) is proposed.On the base of the layered architecture,service is considered as the constituent elements,and normalized multi-robot SOA packages and interfaces are designed.The lower functional components are encapsulated transparently and the upper service is invoked flexibly in cooperation.The impact of the difference among the heterogeneous robots on cooperation is effectively avoided,which is beneficial to the system construction, expansion,restructuring and maintenance.Experimental results demonstrate the technical feasibility and practicality.