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：本文聚焦于异构机器人团队的运动规划，该团队需协同完成全局任务。机器人在包含若干感兴趣区域的環境中运动，整个团队的规約可涵盖进入这些区域时的避障、访问或顺序要求。该规約采用对应自动机的Petri网形式表达，而每个机器人同样通过状态机Petri网建模。针对现有相关问题的解决方案，本文提出以下贡献：首先，我们提出一种称为{高层机器人团队Petri网(HLPN)系统}的新模型，用于将规約与机器人模型纳入网中网范式；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背规約。随后，通过专用软件工具模拟HPLN系统实现求解，该工具支持网中网架构。全文以基于线性时序逻辑(LTL)的使命任务为例，阐释了该框架的理论基础。