A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing the proper system architecture, because this model can be used to simulate and measure the performance of the proposed architecture. However, an MRS solution architecture modeling is a very difficult problem, as it contains many dependent behaviors that dynamically change due to the current status of the overall system. In this paper, we introduce a general purpose MRS case study, where the humans initiate requests that are achieved by the available robots. These requests require different plans that use the current capabilities of the available robots. After proposing an architecture that defines the solution components, three steps are followed. First is modeling these components via Business Process Model and Notation (BPMN) language. BPMN provides a graphical notation to precisely represent the behaviors of every component, which is an essential need to model the solution. Second is to simulate these components behaviors and interaction in form of software agents. Java Agent DEvelopment (JADE) middleware has been used to develop and simulate the proposed model. JADE is based on a reactive agent approach, therefore it can dynamically represent the interaction among the solution components. Finally is to analyze the performance of the solution by defining a number of quantitative measurements, which can be obtained while simulating the system model in JADE middleware, therefore the solution can be analyzed and compared to another architecture.

翻译：多机器人系统（MRS）是智能信息物理系统的基础设施，在此系统中，机器人能够理解人类的需求，并因此协同合作以满足该需求。对MRS进行建模是设计恰当系统架构的关键环节，因为该模型可用于仿真和评估所提架构的性能。然而，MRS解决方案的架构建模是一个极具挑战性的问题，因为它包含许多相互依赖的行为，这些行为会随着整个系统当前状态而动态变化。本文介绍了一个通用的MRS案例研究，其中人类发起请求，由可用机器人完成。这些请求需要不同的规划，这些规划需利用当前可用机器人的能力。在提出一个定义了解决方案组件的架构后，我们遵循三个步骤。首先，使用业务流程模型与标记法（BPMN）语言对这些组件进行建模。BPMN提供了一种图形化标记法，能够精确表示每个组件的行为，这是对解决方案进行建模的基本要求。其次，以软件智能体的形式仿真这些组件的行为与交互。我们使用Java智能体开发（JADE）中间件来开发和仿真所提出的模型。JADE基于反应式智能体方法，因此能够动态地表示解决方案组件之间的交互。最后，通过定义一系列可在JADE中间件中仿真系统模型时获得的定量测量指标，来分析解决方案的性能，从而可以对该解决方案进行分析并与其他架构进行比较。