Hierarchical Petri Net Representation of Robot Systems

Maksym Figat , Cezary Zieliński


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.
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
Publication size in sheets0.5
Book Szewczyk Roman, Zieliński Cezary, Kaliczyńska Małgorzata (eds.): Automation 2019: Progress in Automation, Robotics and Measurement Techniques, Advances in Intelligent Systems and Computing, vol. 920, 2020, Cham, Switzerland, Springer, ISBN 978-3-030-13272-9, [978-3-030-13273-6], 727 p., DOI:10.1007/978-3-030-13273-6
Keywords in EnglishRobot System Specification Methodology Hierarchical Finite State Machine Hierarchical Petri Net
URL https://link.springer.com/chapter/10.1007%2F978-3-030-13273-6_46#citeas
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]
Languageen angielski
FigatM Zielinski C Automation_2019_.pdf 2.78 MB
Score (nominal)20
Score sourcepublisherList
ScoreMinisterial score = 20.0, 07-07-2020, ChapterFromConference
Publication indicators Scopus Citations = 0
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