Translating robot programming language flow control into Petri nets

This paper describes how structures for the flow control in robot programming languages can be translated into Petri nets. Structures common to many robot programming languages are identified and their representation in the realm of Petri nets is described. This common representation of robot programs allows us to apply to them techniques originally developed for Petri nets. An example of how to combine the single structures into Petri nets representing larger robot programs and future prospects of these efforts conclude the work.