Hierarchical Petri Net Representation of Robot Systems
Authors:
- Maksym Figat,
- Cezary Zieliński
Abstract
The paper presents a holistic robot system specification methodology taking into account both the system structure and its activities. It is based on the concept of an embodied agent. Each agent is decomposed into cooperating subsystems. Previously subsystem activities were defined by a hierarchical finite state machine (HFSM). In that approach communication between subsystems was not specified explicitly. This paper utilises a Hierarchical Petri Net (HPN) with conditions as an alternative modelling tool. HPN can be obtained by transformation of the HFSM into HPN. The resulting HPN consists of consecutive layers: subsystem layer, behaviour layer and communication layer. The proposed methodology not only organizes in a systematic and holistic manner the development of the robot system, but also introduces a comprehensive description of concurrently acting subsystems. The HPN description can be utilised to automatically generate the robot controller code.
- Record ID
- WUT7b502dc306bf46639cfc6f2dd530778b
- Author
- Pages
- 492-501
- Publication size in sheets
- 0.50
- Book
- Szewczyk Roman*, Roman Szewczyk Zieliński Cezary, Cezary Zieliński Kaliczyńska Małgorzata Małgorzata Kaliczyńska (eds.): Automation 2019: Progress in Automation, Robotics and Measurement Techniques, Advances in Intelligent Systems and Computing, vol. 920, 2020, Cham, Switzerland, Springer, 727 p., ISBN 978-3-030-13272-9. DOI:10.1007/978-3-030-13273-6 Opening in a new tab
- Keywords in English
- Robot System Specification Methodology Hierarchical Finite State Machine Hierarchical Petri Net
- DOI
- DOI:10.1007/978-3-030-13273-6_46 Opening in a new tab
- URL
- https://link.springer.com/chapter/10.1007%2F978-3-030-13273-6_46#citeas Opening in a new tab
- Project (archive)
- [2017/25/N/ST7//00900] Robot system design methodology based on a formal specification. Project leader: Figat Maksym, +48 7649, start date 27-03-2018, end date 26-03-2020, IA/NCN/\prelud/figat, CompletedWEiTIProjects financed by NSC [Projekty finansowane przez NCN]
- Language
- (en) English
- File
-
- File: 1
- FigatM Zielinski C Automation_2019_.pdf
-
- Score (nominal)
- 20
- Score source
- publisherList
- Score
- = 20.0, 05-05-2022, ChapterFromConference
- Publication indicators
- = 1; = 0
- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUT7b502dc306bf46639cfc6f2dd530778b/
- URN
urn:pw-repo:WUT7b502dc306bf46639cfc6f2dd530778b
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.