TY  - JOUR
KW  - Complex control systems; Flow environment; Global state; Matlab-Simulink; Modeling and control; Modeling and simulation; Modeling approach; Multi-robot formation; Multi-robot systems; Reactive system; Robotic systems; Role switching; Simulation studies; Simulink; State machine; State-based models; STATEFLOW; Subsumption architecture; Tightly-coupled; Unknown environments
KW  -  Artificial intelligence; Industrial robots; Large scale systems; MATLAB; Multipurpose robots
KW  -  Computer simulation
ID  - scholars2645
N2  - Modeling and simulation is an important activity in the development of complex control systems such as the multi-robot formation control. This study addresses the use of state based approach to model the complex systems that are employed to perform tightly coupled tasks in an unknown environment. The proposed state based model represents the entire behavior of the complex system by a global state machine or Augmented Finite state machines, which describes the complete intra-object behavior of the system. The methods to model and implement the state machines in the MATLAB-simulink/State flow environment are also addressed in this paper. Further, performance of the modeling approach is investigated through simulation studies by considering the multi-robot formation combined with navigation and role switching and are addressed in this study. The simulation result suggests that the state based model and simulation based on Stateflow could be a viable method to model mutli-domain systems such as the highly complex robotic systems with visualization, performance and formalism. © 2012 Asian Network for Scientific Information.
IS  - 24
VL  - 12
UR  - https://www.scopus.com/inward/record.uri?eid=2-s2.0-84872300342&doi=10.3923%2fjas.2012.2494.2502&partnerID=40&md5=8241042b79aee988214b723b016533d1
A1  - Kuppan Chetty, R.M.
A1  - Nagarajan, T.
A1  - Karsiti, N.B.
A1  - Singaperumal, M.
JF  - Journal of Applied Sciences
Y1  - 2012///
SP  - 2494
TI  - State based modeling and control of a multi robot systems using simulink/Stateflow
N1  - cited By 4
AV  - none
EP  - 2502
SN  - 18125654
ER  -