| Autonomous Underwater Vehicle (AUV) control system plays an important role in the application of AUV, which has complex missions in Deep Ocean, such as map-making, search and rescue, pursue and evasion, etc. In this thesis, by employing Belief-Desire-Intention (BDI) based models, frameworks and implementation methods, the architecture of Multiple Military Autonomous Underwater Vehicle control system is presented.Firstly, related research work on Agent, Multi-Agent System (MAS), Robot, Multi-robot System (MRS) and AUV are described. Then, based on the famous BDI theory, eXtended BDI Model (XBDI Model) is presented. In XBDI Model, every Robot or Agent has own Mental States, such as Beliefs, Desires, Goals, Intentions and behavioral property, such as Roles, Capabilities, Plans, Know-hows. To describe this model precisely, a logic language is defined. Then, how to represent these Mental States of XBDI-Agent and how to run it are described.Secondly, after introducing the Speech-act theory, the syntaxes, the semantics, the performatives and the applications of KQML are described. To satisfy the requirement of AUV communication, Robot Communication Language (RCL) is proposed. Then, the syntaxes and semantics of RCL are defined and the process of Mental States transition and inter-agent negotiation are described.Moreover, after introducing the main problems in MRS architecture briefly, three important architectures-Reactive Architecture, Deliberate Architecture and Hybrid Architecture are discussed. Then, based on the PRS Model and XBDI Model, the architecture and runtime framework of multiple cooperative AUVs are presented.Finally, the simulation scenario of multiple cooperative AUVs is described. Then, how to implement the XBDI-Agent in Java is discussed in detail, which include the definition of class and RCL message, the process of Mental States updating. Lastly, the results of simulation are described. It has been proved that XBDI model is suitable for the tasks in simulation scenario.
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