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问题，该团队需协作完成全局任务。机器人在包含若干感兴趣区域的场景中移动，整个团队的规范要求可能涵盖对这些感兴趣区域的避碰、访问或进入顺序约束。该规范以对应自动机的Petri网形式表述，而每个机器人也通过状态机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，我们提出一种新型模型——高层机器人团队Petri网（HLPN）系统，用于将规范与机器人模型整合至网中网范式。设计了一种名为全局使能函数（gef）的守卫函数，可同步变迁的触发过程，确保机器人运动不违反规范。随后，通过特定支持网中网技术的软件工具对HLPN系统进行仿真求解。本文自始至终基于线性时序逻辑（LTL）任务实例进行阐述，以补充所提框架的理论基础。