In: IEEE Transactions on Robotics and Automation, Vol. 7, No. 4, pages 417-433. August 1991.
Abstract: A class of condition/event nets suitable for modeling repetitive workcell tasks is defined. These nets are either deterministic or exhibit choice among alternatives, a restricted type of conflict. The repetitive behavior of this type of net is studied by separating this conflict into deterministic components that are associated with mutually exclusive alternatives. A unified description of important temporal extensions of Petri net theory is presented, formal analysis is emphasized. A typical assembly example that illustrates two forms of temporal analysis is presented.
Keywords: robotics; time; condition/event net; manufacturing; conflict; mutually exclusive alternatives; temporal net extension.