D. R. Lefebvre, G. N. Saridis. Integrating Robotic Functions And Operator Supervision Using Petri Nets. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, NC, USA, 7-10 Jul 1992. pages 20-26, IEEE, 1992. [doi]
Abstract is missing.