Multi-agent Systems Formal Model for Unmanned Ground Vehicles

In order to facilitate rapid development via visual modeling and analysis, a multi-agent systems model (MASM) for unmanned ground vehicles (UGVs) based on object-oriented Petri nets (OPN) is presented. MASM can describe the static and dynamic semantics of UGVs, and analyze the key properties of the UGV model by Petri nets tools. The stability in control theory is used to analyze the stability of agents and MAS stability. Consequently the design errors in an early system design stage are detected. To demonstrate the MASM, multiple UGVs engaged in a pursuit-evasion war game are described. The simulation results show that MASM is effective for model and development for UGVs