Petri Nets for the Iterative Development of Interactive Robotic Systems
Pragathi Praveena1,Andrew Schoen1,Michael Gleicher1,David Porfirio2,Bilge Mutlu1
1University of Wisconsin–Madison
2U.S. Naval Research Laboratory
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Abstract
In this position paper, we argue for the use of Petri nets as a modeling language for the iterative development process of interactive robotic systems. Our goal is a representation that can unify various phases of the development process — design, specification, simulation, validation, implementation, and deployment. We focus on how Timed Colored Petri nets (TCPNs), in particular, can provide value for the end-to-end development of interactive systems. We additionally discuss future directions for creating a domain-specific variant of TCPNs tailored specifically for HRI systems development.
#petri nets
#timed colored petri nets
#tcpns
#interactive robotic systems
#iterative development
#modeling language
#system design
#specification
#simulation
#validation
#implementation
#deployment
#hri systems
#human-robot interaction
#end-to-end development