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It is a challenging task to develop a high quality and secure multimedia service for mobile terminals used in the ubiquitous computing environment. One of the issues is the resource limitation of mobile terminals. We present a multimedia service composition scheme for sharing computer and communication resources by using terminals to compensate for this resource limitation. The proposed scheme is based on user authentication, service access control, and the multi-agent-based adaptive QoS control framework that we developed. We also propose a novel access mode control based on the trustworthiness of users and extension of the multi-agent-based adaptive QoS control framework to many users. Focusing on the home network as a typical ubiquitous network, we implement a prototype testbed system and show experimental results for the multimedia service composition.