PN RTE Petri net Robot Task Execution
This work presents a software framework which allows the execution of a robot task defined by a formalism based on Marked Petri nets. The proposed solution is composed by three components: a Petri net execution, a primitive action manager and a predicate manager, which address the problems of decision making, actuation and perception. By implementing and integrating the framework via the Robot Operating System, and withdrawing advantage of its concepts and functionalities, a modular and flexible solution was achieved, capable of realtime execution of different tasks, including hierarchically defined cases. Additionally, the framework provides simple and clear methods definitions, verifications and indepth informations which allows for simple and fast debugs of the task during execution. Finally, the idea that supported the solution architecture implementation and development allows each package to be replaced, extended or used in different scopes.