Modelo descentralizado de navegación para sistemas robóticos multi-agente cooperativos

Abstract

The autonomous multi-agent robotic systems (MARS) are modeled and developed to work in processes dedicated to navigation in stochastic environments, especially in localization, planning, and mapping. These processes make use of design models in centralized systems that generate dependence of a central unit, being this a constraint for the autonomy of the robotic agents. This is why the decentralization of a robotic multi-agent system has been an area of research in recent years since it allows the control and allocation of distributed tasks in an asynchronous and robust manner since it does not have the dependence on a central unit. However, there are areas in which the communication process in the network generated by the robotic agents is not contemplated, creating dependency on a permanent connection to the neighboring units to realize the proposed objectives. In this research project, a decentralized model is described, which allows interaction not only between the robotic agents that make up the system, but also, with external agents such asmonitoring units or sensors, in a decentralized manner, basing its operating architecture on the emerging technology of Wireless Sensor Networks (WSN)