Abstract

ARCOS-HURTADO, Edgar F.  and  LOPEZ, Jesús A.. Control cooperative strategy based on ideal free distribution and load balancing for applications of surveillance and monitoring. Prospect. [online]. 2018, vol.16, n.2, pp.59-67. ISSN 1692-8261.  https://doi.org/10.15665/rp.v16i2.1518.

This paper presents the development and simulation of a multi-agent system to perform surveillance and monitoring tasks, in which a team of autonomous agents based on simple rules, with local knowledge, and based on the theory of ideal free distribution, and in the technique of load balancing [1], agents manage to exhibit cooperative behavior to efficiently cover a terrain and thus carry out the task of foraging. The model of the multi-agent system is evaluated through a simulation in which, from a certain crop with infected plants, the agents must be distributed according to a Voronoi diagram, so that each region of the crop is being monitored by a group of agents according to the size of the region. The results clearly show that the load balancing strategy through free ideal distribution presents a significant advantage in the detection and elimination of infected points with respect to a strategy in which no partitioning of the land is developed, even so, both strategies achieve exhibit cooperative behavior in the agents.

Keywords : Multi-agent system; Ideal free distribution; Load balancing; Cooperative control; Voronoi´s diagram; Foraging.

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