This paper describes a guide system and the software architecture of an autonomous interactive robot based on a multi-agent system. A robot navigation system is developed so that the robot can guide people through halls in various types of exhibitions. An infrared location system is implemented on hallway ceilings, and thus the environment is part of a sensor-distributed robot system. Real-world guide agent plays the role of "ROBOT-MEDIA" to integrate information between the information space of the mobile computer and the physical space of the exhibits in order to guide visitors in physical space. This research aims to develop a cooperative adaptive systems as two-way communication among space, media and human beings to construct transparent knowledge boundaries between real space and virtual space generated from computer data is using shared-space technology to create distributed intelligence on shared space in order to manage the communication and guide in a laboratory. The experimental results of using an autonomous mobile robot equipped with a compass verify this proposed software architecture.