This paper begins with an introduction of the current status of research on the multi-agent cooperation , then sixteen cooperation structures are provided according to the three dimensions , the completely of cooperation ob2 jective exchanging of both sides exists , and the number of both sides. Furthermore , a set of communication primi2 tives is designed for multi-agent cooperation. Finally , algorithms of realizing the cooperation structures that present2 ed in this paper and a typical example on multi-agent cooperation was described.