Modeling and controlling IoT-based devices’ behavior with high-level Petri nets

Abstract

In the last decade Internet of Things (IoT) emerged as a concept for intelligent, flexible, autonomous, and distributed system while IoT-based devices have highlighted for agent communication, data analysis, and decision-making tasks. Integrating high-level behavioral and low-level control has capital significance for their implementation and is still a challenge. In the field of high-level behavior, Petri nets are widely applied for modeling, simulating, and analyzing concurrent, discrete-event and knowledge-based systems, furthermore even models are used as basis for control algorithm, direct controlling devices’ behavioral with high-level Petri nets is little diffused. This paper presents a control architecture used to integrate models in high-level Petri nets with IoT-based devices. Operational tests were provided using CPN Tools and micro-controlled physical devices. A study with a mobile robot is shown and results indicate the reasonability and applicability of this proposed approach in IoT-based devices.