Colony of Robots for Exploration Based on Multi-Agent System

摘要

In this paper a colony of robots for closed environments exploration is presented. This small colony of robots, conformed by mobile robots and a quadcopter, is based on heterogeneous Multi-Agent System (MAS). The objective of the system is to quickly recognize a closed three-dimensional environment, without access to references such as a Global Positioning System (GPS), to perform exploration of each unit with different characteristics and perform a joint recognition. All communications work wirelessly with a system responsible of data collection, tracking and managing all collected information. Finally, it provides a basis for multi-agent robots which allow recognition, mapping and information gathering in places where units are efficiently deployed the entire colony's abilities.