Teamwork Design Based on Petri Net Plans

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5399)


This paper presents a design of cooperative behaviors through Petri Net Plans, based on the principles provided by Cohen and Levesque’s Joint Commitments Theory. Petri Net Plans are a formal tool that has proved very effective for the representation of multi-robot plans, providing all the means necessary for the design of cooperation. The Joint Commitment theory is used as a guideline to present a general multi-robot Petri Net Plan for teamwork, that can be used to model a wide range of cooperative behaviors. As an example we describe the implementation of a robotic-soccer passing task, performed by Sony AIBO robots.


Multiagent System Cooperative Behavior Ordinary Action Joint Commitment Passing Task 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  1. 1.Dipartimento di Informatica e Sistemistica“Sapienza” University of RomeItaly
  2. 2.Institute for Systems and Robotics - ISR/ISTLisbonPortugal

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