Peer-to-peer multi-robot coordination algorithms: petri net based analysis and design

In this paper, a peer-to-peer coordination algorithm is developed to provide robustness to multi-robot missions, in the context of exploring unknown environments. The validation, analysis and design of the coordination algorithm require formal modeling methodologies. We propose a stochastic Petri net (SPN) based method to analyze and design efficient peer-to-peer coordination algorithms. By running the Petri net model, optimized parameters are obtained to improve the efficiency of the multi-robot team. Peri Net simulation and algorithm implementation have validated the proposed algorithm