Before the work on Petri net powered lego the original version of the TRAMP Petri net toolkit was developed based on a knowledge of mobile robots and their navigation
To get a better picture of what TRAMP is about, and what it does, try the TRAMP overview, or the easy to follow slide show
Alternatively, you can see some of the robots that were experimented with (and on!)
Three different incarnations of Star Track are shown below
-----December 1995-January 1997---------February 1997-December 1997----------January 1998-September 1999-----
We also briefly considered implementation on their smaller companion, Stampbug
