In: 06, 2006: Proceedings of the Fourth International Workshop on Modelling of Objects, Components and Agents, MOCA'06, Bericht 272, FBI-HH-B-272, pages 267-289. June 06.
Abstract: In this paper we present a novel representation framework based on Petri Nets for describing robot and multi-robot behaviors. The Petri Net Plan (PNP) formalism allows for high level description of complex action interactions that are necessary in programming cognitive robots: non-instantaneous actions, sensing and conditional actions, action failures, concurrent actions, interrupts, action synchronization in a multi-agent context. We show how this framework is capable of describing effective plans for robotic agents which inhabit a dynamic, partially observable and unpredictable environment. The proposed framework has been implemented and successfully deployed on actual robotic teams in different application scenarios.