Abstract: In this paper, a matrix method is proposed for analyzing the pipeline like coordination model of a multi agent system. Combined with the logical and algebraic method, it could be used to describe the dynamic behavior of a system and to derive the Petri model of the system conveniently. The model has been used to analyze the pipeline coordination model of autonomous intelligent robot systems successfully. Compared with the conventional Petri net analysis, it is simpler and more perfect, and provides rigorous measure of mathematical description and analysis.