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.
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。
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In this paper, I study the characteristics and modeling process of qualitative simulation, propose the conception of qualitative compositional modeling and realize the corresponding algorithms.