{"id":"https://openalex.org/W2023806806","doi":"https://doi.org/10.1177/02783640022066743","title":"Using the Time Petri Net Formalism for Specification, Validation, and Code Generation in Robot-Control Applications","display_name":"Using the Time Petri Net Formalism for Specification, Validation, and Code Generation in Robot-Control Applications","publication_year":2000,"publication_date":"2000-01-01","ids":{"openalex":"https://openalex.org/W2023806806","doi":"https://doi.org/10.1177/02783640022066743","mag":"2023806806"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066743","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066743","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://investigacion.unirioja.es/documentos/5bbc6810b750603269e801d3","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113286835","display_name":"Luis Montano","orcid":"https://orcid.org/0000-0002-0449-2300"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Luis Montano","raw_affiliation_strings":["CPS, Universidad de Zaragoza, Department of Inform\u00e1tica e                         Ingenier\u00eda de Sistemas, C/Mar\u00eda de Luna 3, 50015                         Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CPS, Universidad de Zaragoza, Department of Inform\u00e1tica e                         Ingenier\u00eda de Sistemas, C/Mar\u00eda de Luna 3, 50015                         Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033916192","display_name":"Francisco Jos\u00e9 Garc\u00eda Izquierdo","orcid":"https://orcid.org/0000-0003-0972-0787"},"institutions":[{"id":"https://openalex.org/I168974976","display_name":"Universidad de La Rioja","ror":"https://ror.org/0553yr311","country_code":"ES","type":"education","lineage":["https://openalex.org/I168974976"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco Jos\u00e9 Garc\u00eda","raw_affiliation_strings":["Universidad de La Rioja, Department of Matem\u00e1ticas y                         Computaci\u00f3n, C/Luis de Ulloa s.n., 26004 Logro\u00f1o, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad de La Rioja, Department of Matem\u00e1ticas y                         Computaci\u00f3n, C/Luis de Ulloa s.n., 26004 Logro\u00f1o, Spain","institution_ids":["https://openalex.org/I168974976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051000028","display_name":"Jos\u00e9 Luis Villarroel","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jos\u00e9 Luis Villarroel","raw_affiliation_strings":["CPS, Universidad de Zaragoza, Department of Inform\u00e1tica e                         Ingenier\u00eda de Sistemas, C/Mar\u00eda de Luna 3, 50015                         Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CPS, Universidad de Zaragoza, Department of Inform\u00e1tica e                         Ingenier\u00eda de Sistemas, C/Mar\u00eda de Luna 3, 50015                         Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033916192","https://openalex.org/A5051000028","https://openalex.org/A5113286835"],"corresponding_institution_ids":["https://openalex.org/I168974976","https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":2.3472,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.88098051,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"1","first_page":"59","last_page":"76"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.8011527061462402},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6597882509231567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412754058837891},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5336908102035522},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.532781720161438},{"id":"https://openalex.org/keywords/code-generation","display_name":"Code generation","score":0.520199716091156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4776838421821594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4383871853351593},{"id":"https://openalex.org/keywords/coding","display_name":"Coding (social sciences)","score":0.43679237365722656},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41418227553367615},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41211026906967163},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34294235706329346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2742311954498291},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.24603185057640076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20891374349594116}],"concepts":[{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.8011527061462402},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6597882509231567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412754058837891},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5336908102035522},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.532781720161438},{"id":"https://openalex.org/C133162039","wikidata":"https://www.wikidata.org/wiki/Q1061077","display_name":"Code generation","level":3,"score":0.520199716091156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4776838421821594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4383871853351593},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.43679237365722656},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41418227553367615},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41211026906967163},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34294235706329346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2742311954498291},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.24603185057640076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20891374349594116},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783640022066743","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066743","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:portal.dialnet.es:doc/5bbc6810b750603269e801d3","is_oa":true,"landing_page_url":"https://investigacion.unirioja.es/documentos/5bbc6810b750603269e801d3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402551","display_name":"RIUR (Universidad de La Rioja)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I3032752892","host_organization_name":"Universidad Internacional de La Rioja","host_organization_lineage":["https://openalex.org/I3032752892"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:portal.dialnet.es:doc/5bbc6810b750603269e801d3","is_oa":true,"landing_page_url":"https://investigacion.unirioja.es/documentos/5bbc6810b750603269e801d3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402551","display_name":"RIUR (Universidad de La Rioja)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I3032752892","host_organization_name":"Universidad Internacional de La Rioja","host_organization_lineage":["https://openalex.org/I3032752892"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324278","display_name":"Comisi\u00f3n Interministerial de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W167751234","https://openalex.org/W204986521","https://openalex.org/W1494094828","https://openalex.org/W1527132796","https://openalex.org/W1530066122","https://openalex.org/W1872146477","https://openalex.org/W1874235524","https://openalex.org/W1968025047","https://openalex.org/W1989458007","https://openalex.org/W1990357312","https://openalex.org/W1996109622","https://openalex.org/W2015717967","https://openalex.org/W2033839526","https://openalex.org/W2041903821","https://openalex.org/W2042801853","https://openalex.org/W2056359803","https://openalex.org/W2058182847","https://openalex.org/W2103120971","https://openalex.org/W2136992253","https://openalex.org/W2151612633","https://openalex.org/W2160246367","https://openalex.org/W2163259707","https://openalex.org/W2167618168","https://openalex.org/W2307068791","https://openalex.org/W2496242874","https://openalex.org/W2618366448","https://openalex.org/W2730651190"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"The":[0],"main":[1],"objective":[2],"of":[3,11,37,54,71,87,117,128,150,158],"this":[4,29],"paper":[5],"is":[6,66],"to":[7,56],"show":[8,141],"the":[9,13,35,69,72,78,84,91,99,102,110,125,129,143,148,155,159],"advantages":[10],"using":[12],"time":[14,73,100],"Petri":[15,74],"net":[16,75],"formalism":[17,76],"for":[18,41,101],"specification,":[19],"validation,":[20],"and":[21,95,104,119,132],"code":[22,134],"generation":[23],"in":[24,59,77,124],"robot-control":[25],"applications.":[26],"To":[27],"achieve":[28],"objective,":[30],"we":[31],"consider":[32],"as":[33],"application":[34],"development":[36,80,93,111,130],"a":[38,42,46],"control":[39],"system":[40,92,152],"mobile":[43],"robot":[44],"with":[45,51,62],"rotating":[47],"rangefinder":[48],"laser":[49],"sensor":[50],"two":[52],"degrees":[53],"freedom":[55],"be":[57],"used":[58],"navigation":[60],"tasks":[61],"obstacle":[63],"avoidance.":[64],"It":[65,114],"shown":[67],"how":[68],"use":[70],"whole":[79],"cycle":[81],"can":[82],"fulfilll":[83],"reliability":[85],"requirement":[86],"real-time":[88,156],"systems,":[89],"make":[90],"easy":[94],"quick,":[96],"strongly":[97],"reduce":[98,109],"testing":[103],"tuning":[105],"phases":[106],"and,":[107],"therefore,":[108],"cost":[112],"significantly.":[113],"allows":[115],"verification":[116],"functional":[118],"temporal":[120],"requirements,":[121],"error":[122],"detection":[123],"early":[126],"stages":[127],"cycle,":[131],"automatic":[133],"generation,":[135],"avoiding":[136],"coding":[137],"mistakes.":[138],"Experimental":[139],"tests":[140],"that":[142],"theoretical":[144],"results":[145],"obtained":[146],"from":[147],"analysis":[149],"formal":[151],"models":[153],"match":[154],"behavior":[157],"robotic":[160],"system.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}
