  This paper focuses on designing motion plans for a heterogeneous team of
robots that has to cooperate in fulfilling a global mission. The robots move in
an environment containing some regions of interest, and the specification for
the whole team can include avoidances, visits, or sequencing when entering
these regions of interest. The specification is expressed in terms of a Petri
net corresponding to an automaton, while each robot is also modeled by a state
machine Petri net. With respect to existing solutions for related problems, the
current work brings the following contributions. First, we propose a novel
model, denoted {High-Level robot team Petri Net (HLPN) system, for
incorporating the specification and the robot models into the Nets-within-Nets
paradigm. A guard function, named Global Enabling Function (gef), is designed
to synchronize the firing of transitions such that the robot motions do not
violate the specification. Then, the solution is found by simulating the HPLN
system in a specific software tool that accommodates Nets-within-Nets. An
illustrative example based on a Linear Temporal Logic (LTL) mission is
described throughout the paper, complementing the proposed rationale of the
framework.
