The Modeling of Mosaic Generation System Using Coloured Petri Nets

A typical mobile robot is constituted by subsystems such as: perception, localization, navigation and movement control. The perception system is responsible to acquire data from the space where the robot is placed. This data, after being stored, is processed to be used to generate information on the location where the robot is placed, through its location system. The mosaic might be defined as a set of photos with approximate scale, in one specific region, cut and assembled, artistically or technically in a way to give the impression that the set of pictures is a single image. From the need of a mosaic generation system, it was performed a construction of a coloured Petri net to enable the modeling of a mosaic generation system. This work offers the mosaic generation system modeling using coloured Petri nets. The model was tested on the software CPN Tools through an exhaustive and random transitions fire. 

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