Stochastic Petri Nets have been developed to model and analyze systems involving concurrent activities with the time associated is exponentialy distributed. In this paper, we present an Extended Stochastic Petri Net that allows the firing times of its transitions to non-exponential distributions. We use it to model and analyze a multi-robot system with parallel and cooperative motions in the context of a generalized Markov Renewal Process. The modeling flexibility of Petri Net and the analyzing power of Markov Renewal Process are fully exploited.
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