复合Petri网的主从式多智能体通信建模方法

针对当前主从式MAS领域通信的硬件成本高、对计算资源占用大等问题，引入复合Petri网建立通信模型。按MAS资源的类型，将复合Petri网的库所设计为状态、行为和时滞3种类型，关联了库所的生效时间。建立了不同优先级消息和通信异常处理的复合Petri网模型，构建了主从式多智能体复合Petri网的通信模型。通过基于主从式小车编队的任务场景实验，验证了多智能体复合Petri网相关模型的可靠性与有效性，缓解了通信消息对系统计算资源的压力，降低了对通信硬件的依赖。

A master-slaver multi-agent communication modeling method for compound Petri nets

Aiming at the problems of high hardware cost and large-scale occupation of computing resources in the current master-slaver MAS communication field, a compound Petri nets is introduced to establish its communication model. According to the types of MAS resources, a place of the compound Petri nets, which is related to the effective time of the place, is designed as three types of state, beha-vior and time delay. A compound Petri nets model with different priority messages and communication exception handling is established, and a communication model of master-slaver multi-agent compound Petri net is constructed. Based on the task scenario experiment of master-slaver car formation, the reliability and effectiveness of multi-agent compound Petri net correlation model are verified, which relieves the pressure of communication messages on system computing resources and reduces the dependence on communication hardware.