Control cooperative strategy based on ideal free distribution, and load balancing, for applications of surveillance and monitoring/Estrategia de Control Cooperativo Basada en las Teorías de Distribución Ideal Libre, y Balance de Carga, para Aplicacione...
DOI:
https://doi.org/10.15665/rp.v16i2.1518Keywords:
Sistema Multi-Agente, Distribución Ideal Libre, Balance de Carga, Control Cooperativo, Diagrama de Voronoi, ForrajeoAbstract
El presente artículo de investigación aplicada muestra el desarrollo y simulación de un sistema multi-agente para realizar tareas de vigilancia y monitoreo, en el cual, un equipo de agentes autónomos a partir de reglas simples, con conocimiento local, y basado en la teoría de la distribución ideal libre, y en la técnica de balance de carga [1], los agentes logran exhibir una conducta cooperativa para cubrir de manera eficiente un terreno y así llevar a cabo la tarea de forrajeo. El modelo del sistema multi-agente es evaluado mediante una simulación en la que, a partir de un cultivo determinado con plantas infectadas, los agente deben distribuirse acorde a un diagrama de Voronoi, de tal forma que cada región del cultivo este siendo monitoreada por un grupo de agentes acorde al tamaño de la región, y a la cantidad de agentes que se encuentran en ella. Los resultados muestran claramente que la estrategia de balance de carga mediante la distribución ideal libre presenta una ventaja significativa en la detección y eliminación de puntos infectados con respecto a una estrategia en la que no se desarrolla una partición del terreno, aun así, ambas estrategias logran exhibir una conducta cooperativa en los agentes.
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