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 analyzed. 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 analyzing robotic system properties.

翻译：本文提出了一种机器人系统模型分析的简化方法，该方法通过将机器人系统分层Petri网元模型的属性传递至所设计系统的模型来实现。主要贡献包括：1) 分析RSHPN元模型的属性；2) 将RSHPN分析分解为对单个Petri网的分析，从而缓解状态空间爆炸问题；3) 将RSHPN元模型的属性传递至所生成的模型，从而在创建新的机器人系统时，无需对RSHPN模型进行完整的重新分析，仅需分析模型中与任务相关的部分。该方法简化了分析流程，从而缩短了设计时间。此外，它生成的规范为系统实现奠定了坚实基础。所获得的结果突显了Petri网作为分析机器人系统属性的重要形式化框架的潜力。