This entire project is a study case for the Chimp project. Includes the Petri Net and the software that consume the Chimp component.
All the petri nets are located in the design folder. To see and edit them you need Tina, which is a petri net editor that can be download from here. At this moment there are three petri nets showing different models of the same problem domain. We are using just the design/petriNets/robotsInifineLive.ndr because this one has no deadlocks.