The work considers command behavior models of reactive robots and intelligent robots with quality BDI architecture. For reactive robots, the principles of the formation of spontaneous teams based on the principles of the social organization of people are determined. The architecture of an intelligent robot with qualitative BDI architecture is proposed. For intelligent robots, behavioral planning models are proposed, and the conditions for their cooperation are formulated. The proposed principles for the formation of reactive robots teams and the conditions for the cooperation of intelligent robots were investigated in the simulation of the mechanisms of formation and functioning of robot teams.