Abstract
This paper presents Petri net based models of autonomous mobile robot tasks. Motion tasks are modeled by Petri net modules and organized in layers with different degrees of abstraction as basic building blocks, or macro places, which allow a hierarchical view replacing a block by its corresponding net model. Hierarchical net decomposition provides a set of small net models composed of autonomous activities by several active components or effectors in the system, which are represented by transitions. Besides navigation control, cooperation for special subtasks requiring the exchange of synchronization signals is considered. In the models, states set by communicated messages are seen as resources and represented by Petri net places. Thus, cooperative tasks are modeled by adding extra information to the individual task models to account for synchronization by explicit communication.
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