Pereira, José N.Silva, PorfírioLima, Pedro U.Martinoli, Alcherio2011-05-292011-05-292011-05-292011https://infoscience.epfl.ch/handle/20.500.14299/67979Formalizing Institutions as Executable Petri Nets for Distributed Robotic Systemstext::conference output::conference paper not in proceedings