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A robot system is designed as a set of embodied agents. An embodied agent isdecomposed into cooperating subsystems. In our previous work activities ofsubsystems were defined by hierarchical finite state machines. With theirstates, activities were associated. In that approach communication betweensubsystems was treated as an implementation issue. This paper represents theactivities of a robot system using hierarchical Petri nets with conditions.Such net is created by specifying consecutive layers: multi-agent robot systemlayer, agent layer, subsystem layer, behaviour layer and communication layer.This decomposition not only organizes in a systematic manner the development ofa robot system but also introduces a comprehensive description of concurrentlyacting subsystems. Based on those theoretical considerations, a tool wascreated for producing hierarchical Petri nets defining the model of a roboticsystem and enabling automatic generation of the robot controller code,resulting in a significant acceleration of the implementation phase. Thecapabilities of the tool are presented by the development of a robot controllerperforming a rudimentary task.

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets