Supervisory control of agents cooperation

An approach to finding the supervisor forcing a prescribed collective behaviour to a group of agents in multi agent system (MAS) is presented. The supervisor synthesis is based on the results achieved in the control theory of DES (discrete event systems) modelled by means of place/transition Petri nets (P/T PN). The definition of the PN place invariants (P-invariants) [1], [2], [3] is utilized on this way.