Human-robot interaction become a trend in robotics and happen in a wide range of situations. This research paper describes human and collaborative robots interaction behind traditional paradigms for robots in a shared workspace. This research shows that humans and robots distributing task in collaborative interaction of multi-agent robotic system. Different methods for distributing tasks on global and local levels in multi-agent robotic system analyzed as part of research work. Characteristics of tasks distribution algorithms are considered. The particle swarm algorithm for task distribution presented as an example.