Cezary Zieliński | Searcharxiv

arXiv2025

Simplification of Robotic System Model Analysis by Petri Net Meta-Model Property Transfer

This paper presents a simplification of robotic system model analysis due to the transfer of Robotic System Hierarchical Petri Net (RSHPN) meta-model properties onto the model of a designed system. Key contributions include: 1) analysis of RSHPN meta-model properties; 2) decomposition of RSHPN analysis into analysis of individual Petri nets, thus the reduction of state space explosion; and 3) transfer of RSHPN meta-model properties onto the produced models, hence elimination of the need for full re-analysis of the RSHPN model when creating new robotic systems. Only task-dependent parts of the model need to be analysed. This approach streamlines the analysis thus reducing the design time. Moreover, it produces a specification which is a solid foundation for the implementation of the system. The obtained results highlight the potential of Petri nets as a valuable formal framework for analysing robotic system properties.

cs.RO↗

arXiv2019

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states, activities were associated. In that approach communication between subsystems was treated as an implementation issue. This paper represents the activities of a robot system using hierarchical Petri nets with conditions. Such net is created by specifying consecutive layers: multi-agent robot system layer, agent layer, subsystem layer, behaviour layer and communication layer. This decomposition not only organizes in a systematic manner the development of a robot system but also introduces a comprehensive description of concurrently acting subsystems. Based on those theoretical considerations, a tool was created for producing hierarchical Petri nets defining the model of a robotic system and enabling automatic generation of the robot controller code, resulting in a significant acceleration of the implementation phase. The capabilities of the tool are presented by the development of a robot controller performing a rudimentary task.

cs.RO↗