Petri Nets for the Iterative Development of Interactive Robotic Systems

We argue for the use of Petri nets as a modeling language for the iterative development process of interactive robotic systems. Petri nets, particularly Timed Colored Petri nets (TCPNs), have the potential to unify various phases of the development process-design, specification, simulation, validation, implementation, and deployment. We additionally discuss future directions for creating a domain-specific variant of TCPNs tailored specifically for HRI systems development.