Modeling ethology inspired scenarios for mobile minirobotics using object-oriented Petri-nets

This paper presents an approach of modeling ethology inspired scenarios for cooperative mobile minirobotics. We are particularly interested in recruitment mechanisms of ants colonies. Therefore, we deal with multi-agent systems, where an agent is an autonomous mobile minirobot. The fact of scaling down the size of the robots inspires missions which will capitalise on several and relatively simple agents. We use the object-oriented Petri-nets to model our scenarios. Such models are modular since we define modules that can be associated according to the scenario developed