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With rapid development of ubiquitous computing technology, the amount of context information collected from various sensors has been increased fast. These information should be managed and accessed by only the authorized person. In this paper we propose a new access control approach for multi-agent system based on the role-based access control (RBAC) model. To effectively reflect the continuously changing environment and user's role, the proposed dynamic RBAC scheme employs the notion of trust evaluated with the measure of satisfaction and reputation. It also updates the user's role and permission according to the context information. The effectiveness of the proposed approach is verified by computer simulation.