A Formal Petri Net Based Model for Team Monitoring

This chapter focuses on a Petri Net-based model for team organization and monitoring. The applications considered are missions performed by several robots that cooperate in different ways according to the goals to be achieved. Formal operations on the Petri Net representing the mission plan allow the dynamic hierarchy of subteams to be revealed and the agents’ individual plans – including the relevant cooperation context – to be calculated. The model also allows several failure propagation ways within the team to be highlighted and local plan repair to be considered. Moreover Petri Nets allow direct implementation, and monitoring and control of the plan at each level of the organization: team, subteams, and individual robots.