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The use of autonomous systems, including cooperating agents, is indispensable in certain fields of application. Nevertheless, the verification of autonomous systems still represents a challenge due to lack of suitable modelling languages and verification techniques. To address these difficulties, different modelling languages allowing concurrency are compared. Coloured Petri Nets (CPNs) are further analysed and illustrated by means of an example modelling autonomous systems. Finally, some existing structural coverage concepts for Petri Nets are presented and extended by further criteria tailored to the characteristics of CPNs.