The Modeling of Mosaic Generation System Using Coloured Petri Nets Edson Cavalcanti Neto 1 , Tarique da Silveira Cavalcante 2 , Guilherme Costa Holan- da 1 , Renan Bessa 1 , José Renato de Brito Sousa 1 , José Wally Mendonça Menezes 1 , Auzuir Ripardo de Alexandria 1 1 Instituto Federal de Educação, Ciência e Tecnologia do Ceará, Campus Fortaleza Avenida 13 de maio, 2081- Benfica, Fortaleza, Ceará, Brazil{edsoncavalcanti, guilherme- costa, renan, renato, wally, auzuir}@ifce.edu.br 2 Universidade Federal do Ceará, Campus do Pici - CEP 60455-970 - Fortaleza - CE tarique@lesc.ufc.br Abstract. A typical mobile robot is constituted by subsystems such as: percep- tion, localization, navigation and movement control. The perception system is responsible to acquire data from the space where the robot is placed. This data, after being stored, is processed to be used to generate information on the loca- tion where the robot is placed, through its location system. The mosaic might be defined as a set of photos with approximate scale, in one specific region, cut and assembled, artistically or technically in a way to give the impression that the set of pictures is a single image. From the need of a mosaic generation sys- tem, it was performed a construction of a coloured Petri net to enable the mod- eling of a mosaic generation system. This work offers the mosaic generation system modeling using coloured Petri nets. The model was tested on the soft- ware CPN Tools through an exhaustive and random transitions fire. 1 Introduction The Robotics has been well developed through the past few years, specially the mobile robotics. This type of robots has been constituted by the following subsys- tems: perception, location, navigation and movement control. Between the mobile robot subsystems, the perception is qualified as one of the most important. This system is responsible for environmental data acquisition where the robot acts. These data beyond the storage as robot mission, they have tools in a way to be used as information generation on the robot location in the environment, through the location system. From its location, the robot is capable to create an envi- ronmental map where is operating and compare its position with a global position on a global map created or given by the developer (SIEGWART,2004). The capacity to navigate using the map, supported in a mission which has to perform is also an extremely needed task and is performed by the navigation system. This last informs which path the motion control system should perform. The mosaic is the map described previously and is through it where the mo- bile robot can locate and navigate. The mosaic generation system is constituted by