Integration of robotics components and verification using petri net

We advocate developing new components by using already developed components thus reduces time and effort of development. The issues of concurrency, compatibility, correctness, coordination arises during component composition while using synchronous or asynchronous communication. We were motivated with MARIE[17] an integration effort which has shortcomings of tight coupling and multithreaded request/response architecture produces non deterministic behavior of execution. We selected components Player/Stage [18] (A network server for robotics), Wall Follower Service, Wanderer available in field of robotics and tried to verify the component composition before developing an integration platform. For verification purpose we decided to use model checking instead of theorem proving. We used Petri net [19], a language of concurrent system and petri net tool PIPE for preparing the model of composition. Since the components communicate using their interfaces so we established theory of interface, component and their interface composition. Finally we came to a conclusion based on the composed petri net model that issues of deadlock can only be removed by using implicit synchronization in a concurrent system.