@incollection{Yasuda12,
author = {Gen'ichi Yasuda},
title = {Implementation of Distributed Control Architecture for Multiple Robot Systems Using Petri Nets},
booktitle = {Petri Nets},
publisher = {IntechOpen},
address = {Rijeka},
year = {2012},
editor = {Pawel Pawlewski},
chapter = {4},
doi = {10.5772/50577},
url = {https://doi.org/10.5772/50577}
}