A Hybrid Petri Nets approach for Unmanned Aerial Vehicles Monitoring

This paper presents a new approach based on a new Petri net formalism that merges the concepts of Hybrid Petri Nets and Colored Petri Nets to obtain compact models for online monitoring of aerial service robots. The research activity is part of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable to support human beings in activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne