Noname manuscript No. (will be inserted by the editor) Petri Net Plans A Framework for Cooperation and Coordination in Multi-Robot Systems

the date of receipt and acceptance should be inserted later Abstract Programming behaviors for multi-robot systems is a challenging task and has a key-role in the development of effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a Petri Net (PN) based language which allows an intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and intuitive at the same time, allowing a small modeling effort for its users. As a central feature, PNPs allow formal analysis of plans based on PN standard tools. PNPs are suitable for modeling Multi-Robot Systems and the developed behaviors allow for distributed execution which maintains the properties of the modeled system. PNPs have been proved to be effective on several robotic platforms for many application domains. In this paper, we report two case studies which address coordination and cooperation issues