Formation　is　a　good　example　of　the　research　for　multi-robot　cooperation.　Many　different　ways　can　be　used　to　accomplish　this　task,　but　the　main　drawbacks　of　most　of　these　methods　are　that　robots　can＇t　self-learn.　In　Brooks＇　behavioral　opinion,　this　paper　is　to　verify　that　the　reinforcement　learning　method　can　be　used　for　robots　to　select　different　behaviors　in　various　different　situations.　Experiments　are　performed　to　illustrate　the　team　robots＇　capability　of　self-learning　and　autonomy.　The　results　show　that　the　robots　can　get　a　self-formation　in　a　barrier　environment　after　learning.　©　2010　Springer-Verlag.