Diseño y Simulación de un Sistema de Multiples Agentes para la Detección y Mapeo de Minas Antipersonales Mediante el Uso de Robótica de Enjambres

Abstract

This document is developed as a capstone project in Innovation and Research type to opt for Electronics Engineering degree at Universidad Distrital Francisco Jose de Caldas; it contains the procedures, methodologies and results in designing and simulating a Multiagent System for detection of Antipersonnel Landmines, which is based on a Flocking Algorithm and is implemented upon NetLogo with MATLAB. It is assumed that agents are drones whose dynamics and control are stated, so this project is focused about swarm's controlling and dynamics. The algorithm used is described and some measurements used for setting apart detection and system performance determination are defined, besides a measure for swarm's stability. Finally, simulation results are presented and an analysis of them is got, raising a set of conclusions.