2008/05/01 by Joaquín López Fernández, Rafael Sanz, Enrique Paz +1 · 1 citation
Computer Science · #Petri Nets in System Modeling #Context-Aware Activity Recognition Systems #Mobile Agent-Based Network Management #Petri net #Computer science #Debugging #Middleware (distributed applications) #Distributed computing #Process architecture #Event (particle physics) #Robot #State (computer science) #Tracing #Mobile robot #Programming language #Operating system #Artificial intelligence
paper · doi:10.1109/robot.2008.4543394
openalex publication_date 2008/05/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
Most of the mobile robot control frameworks are based on a middleware layer with several independent modules that implement primitive actions and report events about their state. These modules are usually connected with different interprocess communication mechanisms. Here, we propose to use hierarchical interpreted binary Petri nets to coordinate the activity of these modules. Tasks are described using an interpreted Petri net editor and saved in a xml file. A dispatcher loads these files and executes the different Petri nets under user requests. A monitor that shows the state of all the running nets is very useful for debugging and tracing purposes. The whole system has been applied to a guide robot (vixiabot) that has been guiding users in a public event (XuventudeGalicia.net) for three days in April 2007 and is now extended to a multirobot surveillance application.