# Robotic System Specification Methodology Based on Hierarchical Petri Nets

> Research article (IEEE Access, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3016265528](https://www.wikidata.org/wiki/openalex:W3016265528)  
**Source**: https://4ort.xyz/entity/robotic-system-specification-methodology-based-on-hierarchical-petri-nets