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A Petri net simulator for self-organizing systems

Self-organizing systems have the general property that the primitive elements that comprise the system interact in order to achieve emergent global properties. We describe an extended Petri net simulation architecture for such systems that is based on interacting agents that carry out autonomous actions, yet collaborate with each other in structured ways. There is no central controlling entity. The approach was motivated by an application to mission planning for unmanned air vehicles (UAVs), but is applicable to more general agent-oriented systems.