In a mission that requires collaboration or cooperation, trust is an important social norm to ensure success. This paper presents the study of embedding the concept of trust in a multi robots system, similar to the social norm of trust between humans. The proposed framework called TD Trust enables the robots to learn and evaluate trust on other robot through experience. To achieve this, reinforcement leaning technique is used to empirically evaluate the trust between robots through observation and experience. This framework is then tested in a simulation study by comparing the performance of a system with the trust model embedded and without. © Springer Science+Business Media Singapore 2017.