In: Decis. Support Syst. (The Netherlands) Vol. 4, No. 3, pages 329-343. 1988.
Abstract: SAGE, Sequence Analysis by Graphical Evaluation, is a both a logic framework and a set of Prolog programs to express and then solve the problem of repetitive sequencing of operations within a robotics workcell. The authors create a timed Petri net from the user description consisting of the initial state of the workcell, plus the operations to be performed. This net is used to generate the task space of all feasible time histories of workcell events.