This paper focuses on designing motion plans for a heterogeneous team of robots that has to cooperate in fulfilling a global mission. The robots move in an environment containing some regions of interest, and the specification for the whole team can include avoidances, visits, or sequencing when entering these regions of interest. The specification is expressed in terms of a Petri net corresponding to an automaton, while each robot is also modeled by a state machine Petri net. With respect to existing solutions for related problems, the current work brings the following contributions. First, we propose a novel model, denoted {High-Level robot team Petri Net (HLPN) system, for incorporating the specification and the robot models into the Nets-within-Nets paradigm. A guard function, named Global Enabling Function (gef), is designed to synchronize the firing of transitions such that the robot motions do not violate the specification. Then, the solution is found by simulating the HPLN system in a specific software tool that accommodates Nets-within-Nets. An illustrative example based on a Linear Temporal Logic (LTL) mission is described throughout the paper, complementing the proposed rationale of the framework.

翻译：本文聚焦于为必须协作完成全局任务的异构机器人团队设计运动规划方案。机器人移动环境中包含若干关键区域，整个团队的规约可涵盖进入这些区域时的避障、访问或时序要求。该规约通过对应自动机的佩特里网形式化表达，同时每台机器人也由状态机佩特里网建模。与现有相关问题的解决方案相比，本文工作提出以下贡献：首先，我们提出一种新型模型（记为高层次机器人团队佩特里网（HLPN）系统），将规约与机器人模型融入网中网范式；其次，设计名为全局使能函数（gef）的守卫函数，通过同步变迁触发确保机器人运动不违反规约。最终通过在兼容网中网范式的专用软件工具中仿真HLPN系统获得解决方案。本文全程基于线性时序逻辑（LTL）任务示例进行说明，以补充所提框架的理论依据。