| Study of Multi-Agent System (MAS) already was one of the quickest study fields of artificial intelligence and machinery learning. Robot soccer match is a new field in AI , and micro robot soccer just provide a kind of high-technology competition platform for MAS. It involves many technologies such as real-time vision system, wireless communication, controls of multi-robot and so on, and it already was a criterion trial platform in MAS. When hardware of system was better completed, the result of competition always was decided by decision-making system (software) each other.In the paper, by throwing light on agent and Multi-Agent System, we present a negotiation pattern (Matchmaker pattern). Cooperation and coordination are one of the nucleus problems between agents. The paper put forward the negotiation patter of decision-making system between agents in real-time match. We obtain satisfying results by applying the patter. In may, 2001, Shanxi University introduce hardware of robot soccer system, and we take the MiroSot 3vs3 third place by using the negotiation pattern in 2002 Daqing-Cup , in China.
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