Robotic System Specification Methodology Based on Hierarchical Petri Nets

Maksym Figat , Cezary Zieliński


The paper presents a methodology of creating a Hierarchical Petri Net modelling the activities of a multi-agent robotic system. The methodology follows the separation of concerns approach to the design of robot control software, thus five layers resulted, representing: the system composed of agents, agents’ subsystems, behaviours of subsystems, behaviour pattern, and finally inter-subsystem communication and transition function calculation. Blocking and non-blocking communication modes are taken into account. The robotic system structure and its activities are specified using the developed Robotic System HPN Tool. It facilitates modeling HPNs, verification of the activities of a robotic system through the HPN simulation and automatic code generation of an equivalent ROS based system. The specification methodology is presented on a simple example of designing a controller for the LWR4+ robot.
Author Maksym Figat (FEIT / AK)
Maksym Figat,,
- The Institute of Control and Computation Engineering
, Cezary Zieliński (FEIT / AK)
Cezary Zieliński,,
- The Institute of Control and Computation Engineering
Journal seriesIEEE Access, ISSN 2169-3536
Issue year2020
Publication size in sheets0.3
Keywords in EnglishRobotic system specification methodology, Robotic system design methodology, Communication model, Hierarchical Petri Net
ASJC Classification1700 General Computer Science; 2200 General Engineering; 2500 General Materials Science
Project[2017/25/N/ST7//00900] Robot system design methodology based on a formal specification. Project leader: Figat Maksym, , Phone: 7649, start date 27-03-2018, planned end date 26-03-2020, IA/NCN/\prelud/figat, Implemented
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Automatic code generation of a robot controller collecting table-tennis balls based on a formal specifica- tion expressed by means of a hierarchical Petri net. Project leader: Figat Maksym, , Phone: 7649, start date 08-07-2019, end date 31-12-2019, Dziek/Figat/2019, Completed
Languageen angielski
Figat Zielinski IEEE Access2020.pdf 2.85 MB
Score (nominal)100
Score sourcejournalList
ScoreMinisterial score = 100.0, 17-06-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2018 = 1.718; WoS Impact Factor: 2018 = 4.098 (2) - 2018=4.54 (5)
Citation count*1 (2020-09-27)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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