Simplification of Robotic System Model Analysis by Petri Net Meta-Model Property Transfer

TL;DR

This paper introduces a method to simplify robotic system analysis by transferring properties from a hierarchical Petri net meta-model to specific system models, reducing re-analysis efforts and streamlining design.

Contribution

It presents a novel approach for property transfer in Petri net models, enabling efficient analysis of robotic systems and reducing computational complexity.

Findings

Reduction of analysis time for robotic systems

Elimination of full re-analysis when designing new systems

Validation of Petri nets as effective formal analysis tools

Abstract

This paper presents a simplification of robotic system model analysis due to the transfer of Robotic System Hierarchical Petri Net (RSHPN) meta-model properties onto the model of a designed system. Key contributions include: 1) analysis of RSHPN meta-model properties; 2) decomposition of RSHPN analysis into analysis of individual Petri nets, thus the reduction of state space explosion; and 3) transfer of RSHPN meta-model properties onto the produced models, hence elimination of the need for full re-analysis of the RSHPN model when creating new robotic systems. Only task-dependent parts of the model need to be analysed. This approach streamlines the analysis thus reducing the design time. Moreover, it produces a specification which is a solid foundation for the implementation of the system. The obtained results highlight the potential of Petri nets as a valuable formal framework for analysing robotic system properties.