This　paper　studies　the　behavioral　control　of　a　group　of　autonomous　robots　under　human　intervention,　and　each　agent　is　modeled　by　an　single　integrator.　The　human-dominated　task　and　robot　self-determination　task　functions　are　designed,　respectively,　and　they　are　elaborately　merged　by　the　proposed　behavioral　control　framework.　The　human　intervention　has　the　highest　authority　to　change　the　priority　of　the　tasks.　Finally,　the　case　studies　show　that　the　proposed　method　can　effectively　solve　the　multi-task　conflict　problem　under　human　intervention　and　realize　the　formation　of　robots.　©　2019　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.