Holonic communication structure with formal models of cooperative autonomous mobile robots

Recently many authors have been concerned with the problem of cooperation between autonomous mobile robots. In this paper, we present a communication structure which is a part of holonic communication structure in the team of cooperative autonomous mobile robots. To implement the proposed cooperation between autonomous mobile robots the developed UML sequence, collaboration diagrams, Petri Nets models for simulation of communication and cooperation structure are used. Results are implemented in real experimental environment, including two autonomous mobile robots - Koala and Khepera.