Abstract: Aiming at the problems of high hardware cost and large-scale occupation of computing resources in the current master-slaver MAS communication field, a compound Petri nets is introduced to establish its communication model. According to the types of MAS resources, a place of the compound Petri nets, which is related to the effective time of the place, is designed as three types of state, beha-vior and time delay. A compound Petri nets model with different priority messages and communication exception handling is established, and a communication model of master-slaver multi-agent compound Petri net is constructed. Based on the task scenario experiment of master-slaver car formation, the reliability and effectiveness of multi-agent compound Petri net correlation model are verified, which relieves the pressure of communication messages on system computing resources and reduces the dependence on communication hardware. 

Key words: compound Petri nets, master-slaver, communication model, place, multi-agent system (MAS)