Comparación empírica de métodos de diseño de enjambres de robots: un estudio en simulación sobre enjambres que coordinan a otros enjambres.

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dc.contributor.advisorVargas-Hernandez, Carlos
dc.contributor.authorGarzón Ramos, David
dc.date.accessioned2022-03-24T19:53:13Z
dc.date.available2022-03-24T19:53:13Z
dc.date.issued2022
dc.descriptionilustraciones, tablas.spa
dc.description.abstractEsta tesis presenta una comparación empírica de métodos de diseño de comportamientos colectivos para enjambres de robots que deben coordinar a otros enjambres. En este estudio, los métodos de diseño producen software de control sin ser provistos con información explícita sobre el comportamiento de los enjambres que deben ser coordinados—esta información debe ser obtenida durante el proceso de diseño. Los métodos considerados en la comparación son Pistacchio, EvoCMY, C-Human, R-Walk. Pistacchio es un método automático modular, perteneciente a la familia de métodos AutoMoDe. EvoCMY es un método automático basado en neuroevolución. La eficiencia de los métodos automáticos fue comparada con C-Human, un método de diseño manual en donde un grupo de diseñadores producen el software de control para los robots. Pistacchio, EvoCMY y C-Human fueron comparados con R-Walk, una implementación de movimiento aleatorio que sirve como línea base. Pistacchio y EvoCMY se presentan por primera vez en esta tesis, y son una contribución de la investigación. Los experimentos llevados a cabo con Pistacchio y EvoCMY permitieron determinar que los métodos de diseño automático son efectivos en (i) la identificación de posibles formas de interacción entre el enjambre que coordina y el enjambre que es coordinado; y en (ii) el aprovechamiento de estas formas de interacción para ejecutar misiones en donde los dos enjambres operan de forma coordinada. La comparación de los métodos se llevó a cabo empleando ARGoS3, un simulador especializado en robótica de enjambres, y tomando como plataforma de referencia al robot e-puck. El diseño mediante métodos automáticos resultó significativamente más eficiente que el diseño manual en las misiones propuestas (Texto tomado de la fuente).spa
dc.description.abstractThis thesis presents an empirical comparison of methods for the design of collective behaviors for a robot swarm that must coordinate a second robot swarm. In this study, the design methods produce control software without being provided with explicit information about the behavior of the swarm that must be coordinated—in all cases, this information must be obtained during the design process. The methods considered in the study are Pistacchio, EvoCMY, C-Human, R-Walk. Pistacchio is an automatic modular method that belongs to the family of methods AutoMoDe. EvoCMY is an automatic method based on neuro-evolution. The performance of the automatic methods was compared with the performance of C-Human, a manual design method in which a group of human designers produces the control software for the robots. Pistacchio, EvoCMY and C-Human were compared against R-Walk, an implementation of a random walk that serves as a baseline. Pistacchio and EvoCMY are presented for the first time in this thesis, and they are an original contribution. Experiments conducted with Pistacchio and EvoCMY showed that automatic design methods are effective in (i) identifying interaction dynamics between the swarm that coordinates and the swarm that is being coordinated; and in (ii) using these dynamics for addressing missions in which the two robot swarms must act in a coordinated manner. The design methods were compared in simulation, using the swarm-dedicated simulator ARGoS3 and a simulated model of the e-puck robot. The automatic design approach performed significantly better than the manual design in the proposed missions.eng
dc.description.curricularareaEléctrica, Electrónica, Automatización Y Telecomunicacionesspa
dc.description.degreelevelMaestríaspa
dc.description.degreenameMagíster en Ingeniería - Automatización Industrialspa
dc.description.researchareaDiseño de comportamientos colectivos para enjambres de robotsspa
dc.format.extentxv, 85 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.identifier.instnameUniversidad Nacional de Colombiaspa
dc.identifier.reponameRepositorio Institucional Universidad Nacional de Colombiaspa
dc.identifier.repourlhttps://repositorio.unal.edu.co/spa
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/81376
dc.language.isospaspa
dc.publisherUniversidad Nacional de Colombiaspa
dc.publisher.branchUniversidad Nacional de Colombia - Sede Manizalesspa
dc.publisher.departmentDepartamento de Ingeniería Eléctrica y Electrónicaspa
dc.publisher.facultyFacultad de Ingeniería y Arquitecturaspa
dc.publisher.placeManizales, Colombiaspa
dc.publisher.programManizales - Ingeniería y Arquitectura - Maestría en Ingeniería - Automatización Industrialspa
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.licenseReconocimiento 4.0 Internacionalspa
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/spa
dc.subject.ddc620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaspa
dc.subject.proposalRobótica de enjambresspa
dc.subject.proposalDiseño automáticospa
dc.subject.proposalDiseño manualspa
dc.subject.proposalAutoMoDespa
dc.subject.proposalNeuroevoluciónspa
dc.subject.proposalCoordinación entre enjambresspa
dc.subject.proposalSwarm roboticseng
dc.subject.proposalAutomatic designeng
dc.subject.proposalManual designeng
dc.subject.proposalAutoMoDeeng
dc.subject.proposalNeuroevolutioneng
dc.subject.proposalCoordination between robot swarmseng
dc.titleComparación empírica de métodos de diseño de enjambres de robots: un estudio en simulación sobre enjambres que coordinan a otros enjambres.spa
dc.title.translatedEmpirical comparison of methods for the design of robot swarms: a simulation study of swarms that coordinate other swarms.eng
dc.typeTrabajo de grado - Maestríaspa
dc.type.coarhttp://purl.org/coar/resource_type/c_bdccspa
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aaspa
dc.type.contentImagespa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/masterThesisspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
dcterms.audience.professionaldevelopmentBibliotecariosspa
dcterms.audience.professionaldevelopmentEstudiantesspa
dcterms.audience.professionaldevelopmentInvestigadoresspa
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2spa
oaire.fundernameEl desarrollo de esta tesis ha contado con financiación del proyecto DEMIURGE (ERC grant agreement No 681872, PI Mauro Birattari) y con la financiación del Ministerio Colombiano de Ciencia, Tecnología e Innovación–Minciencias.spa

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