Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Methodology of Designing Multi-agent Robot Control Systems Utilising
  Hierarchical Petri Nets   A robot system is designed as a set of embodied agents. An embodied agent is
decomposed into cooperating subsystems. In our previous work activities of
subsystems were defined by hierarchical finite state machines. With their
states, activities were associated. In that approach communication between
subsystems was treated as an implementation issue. This paper represents the
activities of a robot system using hierarchical Petri nets with conditions.
Such net is created by specifying consecutive layers: multi-agent robot system
layer, agent layer, subsystem layer, behaviour layer and communication layer.
This decomposition not only organizes in a systematic manner the development of
a robot system but also introduces a comprehensive description of concurrently
acting subsystems. Based on those theoretical considerations, a tool was
created for producing hierarchical Petri nets defining the model of a robotic
system and enabling automatic generation of the robot controller code,
resulting in a significant acceleration of the implementation phase. The
capabilities of the tool are presented by the development of a robot controller
performing a rudimentary task.

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The categories of this paper are: supr-con
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The categories of this paper are: dg-ga
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The categories of this paper are: math-ph
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The categories of this paper are: econ
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The categories of this paper are: q-alg
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The categories of this paper are: cmp-lg
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The categories of this paper are: plasm-ph
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The categories of this paper are: hep-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: nucl-ex
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The categories of this paper are: mtrl-th
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The categories of this paper are: patt-sol
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The categories of this paper are: bayes-an
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The categories of this paper are: acc-phys