Framework for modeling autonomous multi-robots systems

This paper presents a framework based on Petri Net (PN) and Multi Agent System (MAS) techniques for modeling autonomous multi-robots systems, which require high interaction among the robots (in some cases with humans), synchronization of movements, implementation of cooperation strategies, and a strong notion of the physical environment. The framework considers all phases of the developing process, starting with the abstraction phase and going up to the implementation of the model, to ensure an efficient and flexible approach for specifying the proposed control system architecture. An application example details this solution, in which multi-robots systems can perform tasks and collaborative behaviors considering the cited requirements.