Formal model for coordination in multi-agents system based Petri Net agent

The field of multi-agent systems is a very active area of research. These multi-agent systems evolve through the behavior of different entities within their environment. Given the importance of the interaction between the agents in the evolution and multi-agent system stability, we are interested in this paper to achieve target by developing a formal model of coordination between agents for managing their communications. The formal model Established uses the formalism of Petri Net agents. The resulting model can be validated with an example of coordination between robots.