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Hierarchical Petri Net Representation of Robot Systems

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Automation 2019 (AUTOMATION 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 920))

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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.

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Acknowledgments

This work was supported by the National Science Centre, Poland (grant number 2017/25/N/ST7/00900).

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Authors and Affiliations

  1. Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665, Warsaw, Poland

    Maksym Figat & Cezary Zieliński

Authors
  1. Maksym Figat
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  2. Cezary Zieliński
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Corresponding author

Correspondence to Maksym Figat .

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Editors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP Al, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP Al, Warsaw, Poland

    Cezary Zieliński

  3. Industrial Research Institute for Automation and Measurements PIAP Al, Warsaw, Poland

    Małgorzata Kaliczyńska

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Figat, M., Zieliński, C. (2020). Hierarchical Petri Net Representation of Robot Systems. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2019. AUTOMATION 2019. Advances in Intelligent Systems and Computing, vol 920. Springer, Cham. https://doi.org/10.1007/978-3-030-13273-6_46

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