# Modeling and safety analysis for collaborative safety-critical systems using hierarchical colored Petri nets

> Research article (Journal of Systems and Software, 2024) · cited 15× · AI/ML

**Wikidata**: [openalex:W4390563068](https://www.wikidata.org/wiki/openalex:W4390563068)  
**Source**: https://4ort.xyz/entity/modeling-and-safety-analysis-for-collaborative-safety-critical-systems-using-hierarchical-colored-petri-nets