Abstract
In this paper, we propose to study and analyze the tasks of a robot and the interaction its environment, by using the power of Petri nets modelling, especially the timed nets. Our system consists of a robot, a programmable automaton and a computer. We consider the execution of the tasks taking into account the temporal constraints. So, we use the temporal Petri nets to model the whole system and also for its verification. We describe the obtained Petri net and the textually or graphically in the environment TINA, an open source tool dedicated for timed Petri nets. We note that the Petri nets have good qualities of abstraction from the modelling point of view compared to the finite state machines which suffer from the states explosion problem, related to the accessibility graph. Moreover, the consideration of the temporal adds an important complexity to the problem; the system which was carried out successfully in the case without temporal constraints, can get in a dead lock state in the case with temporal constraints if these are not satisfied.
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