Modeling decision and cooperation of multi-agent system using Petri net

The RoboCup 2D server simulates soccer team of real world in a multi-agent environment, which possesses characteristics of dynamic discrete system. This paper proposes a method to model and analyze the decision making process of single agent using improved Condition/event Petri net. The cooperation process of multi-agents is modeling later using simple Petri net based on environment built previously. The hierarchy structure of Petri nets and the method to avoid conflicts are discussed at last.