Negotiation between robots is often needed in wireless ad-hoc robot network. In dynamic coverage problem, wireless ad-hoc robots move in the field negotiating with other robots frequently. Robots are tied with P2P network and determine their actions autonomously by negotiations with other robots. The topic of this paper is a negotiation for Multi-Agent-System (MAS) in the problem of robots activity in dynamic coverage, which is the problem of robots to cover all the areas of a free space by their sensors in the shortest possible time. This paper introduce a novel algorithm for robots' negotiation for MAS in the dynamic coverage problem by using PID-filter. This algorithm reduced useless motion of robots and decreased the time concerning the convergence of a robot's action for dynamic coverage problem. The claim made in this paper for new negotiation algorithm for MAS are supported by comprehensive experimental results and discusses future research directions.