<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1692-8261</journal-id>
<journal-title><![CDATA[Prospectiva]]></journal-title>
<abbrev-journal-title><![CDATA[Prospect.]]></abbrev-journal-title>
<issn>1692-8261</issn>
<publisher>
<publisher-name><![CDATA[Universidad Autónoma del Caribe, Facultad de Ingeniería]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1692-82612018000200059</article-id>
<article-id pub-id-type="doi">10.15665/rp.v16i2.1518</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Estrategia de control cooperativo basada en las teorías de distribución ideal libre y balance de carga para aplicaciones de vigilancia y monitoreo]]></article-title>
<article-title xml:lang="en"><![CDATA[Control cooperative strategy based on ideal free distribution and load balancing for applications of surveillance and monitoring]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Arcos-Hurtado]]></surname>
<given-names><![CDATA[Edgar F.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López]]></surname>
<given-names><![CDATA[Jesús A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Santiago de Cali  ]]></institution>
<addr-line><![CDATA[Cali ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Autónoma de Occidente  ]]></institution>
<addr-line><![CDATA[Cali ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2018</year>
</pub-date>
<volume>16</volume>
<numero>2</numero>
<fpage>59</fpage>
<lpage>67</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S1692-82612018000200059&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S1692-82612018000200059&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S1692-82612018000200059&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN 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.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT 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.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Sistema multi-agente]]></kwd>
<kwd lng="es"><![CDATA[Distribución ideal libre]]></kwd>
<kwd lng="es"><![CDATA[Balance de carga]]></kwd>
<kwd lng="es"><![CDATA[Control cooperativo]]></kwd>
<kwd lng="es"><![CDATA[Diagrama de Voronoi]]></kwd>
<kwd lng="es"><![CDATA[Forrajeo]]></kwd>
<kwd lng="en"><![CDATA[Multi-agent system]]></kwd>
<kwd lng="en"><![CDATA[Ideal free distribution]]></kwd>
<kwd lng="en"><![CDATA[Load balancing]]></kwd>
<kwd lng="en"><![CDATA[Cooperative control]]></kwd>
<kwd lng="en"><![CDATA[Voronoi´s diagram]]></kwd>
<kwd lng="en"><![CDATA[Foraging]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Burgess]]></surname>
<given-names><![CDATA[K. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Stability analysis of load balancing systems]]></article-title>
<source><![CDATA[International Journal of Control]]></source>
<year>1995</year>
<volume>61</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>357-93</page-range></nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Biomimicry of bacterial foraging for distributed optimization and control]]></article-title>
<source><![CDATA[IEEE Control Systems]]></source>
<year>2002</year>
<volume>22</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>52-67</page-range></nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="book">
<source><![CDATA[Wooldridge, An introduction to multiagent systems]]></source>
<year>2009</year>
<publisher-name><![CDATA[John Wiley &amp; Sons]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Cao]]></surname>
<given-names><![CDATA[Y. U.]]></given-names>
</name>
<name>
<surname><![CDATA[Fukunaga]]></surname>
<given-names><![CDATA[A. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Kahng]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Cooperative mobile robotics: Antecedents and directions]]></article-title>
<source><![CDATA[Autonomous Robots]]></source>
<year>1997</year>
<volume>4</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>7-27</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Grocholsky]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Keller]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Kumar]]></surname>
<given-names><![CDATA[V.]]></given-names>
</name>
<name>
<surname><![CDATA[Pappas]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Cooperative air and ground surveillance]]></article-title>
<source><![CDATA[IEEE Robotics and Automation Magazine]]></source>
<year>2006</year>
<volume>13</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>16-25</page-range></nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Liu]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Wu]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Multiagent robotic systems]]></source>
<year>2001</year>
<publisher-name><![CDATA[CRC press]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Vidal]]></surname>
<given-names><![CDATA[J. M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Fundamentals of multiagent systems]]></source>
<year>2006</year>
</nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hughes]]></surname>
<given-names><![CDATA[R. N.]]></given-names>
</name>
</person-group>
<source><![CDATA[Behavioural mechanisms of food selection]]></source>
<year>2013</year>
<volume>20</volume>
<publisher-name><![CDATA[Springer Science &amp; Business Media]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Giraldeau]]></surname>
<given-names><![CDATA[L.-A.]]></given-names>
</name>
<name>
<surname><![CDATA[Caraco]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<source><![CDATA[Social foraging theory]]></source>
<year>2000</year>
<publisher-name><![CDATA[Princeton University Press]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Fretwell]]></surname>
<given-names><![CDATA[S. D.]]></given-names>
</name>
<name>
<surname><![CDATA[Calver]]></surname>
<given-names><![CDATA[J. S.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[On territorial behavior and other factors influencing habitat distribution in birds]]></article-title>
<source><![CDATA[Acta Biotheoretica]]></source>
<year>1969</year>
<volume>19</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>37-44</page-range></nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Koroglu]]></surname>
<given-names><![CDATA[M. T.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Illumination balancing algorithm for smart lights]]></article-title>
<source><![CDATA[IEEE Transactions on Control Systems Technology]]></source>
<year>2014</year>
<volume>22</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>557-67</page-range></nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Quijano]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Gil]]></surname>
<given-names><![CDATA[A. E.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Experiments for dynamic resource allocation, scheduling, and control: new challenges from information technology-enabled feedback control]]></article-title>
<source><![CDATA[IEEE Control Systems]]></source>
<year>2005</year>
<volume>25</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>63-79</page-range></nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Velasquez]]></surname>
<given-names><![CDATA[J. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Fuzzy fault tolerant control for smart lights]]></article-title>
<source><![CDATA[Journal of Intelligent &amp; Fuzzy Systems]]></source>
<year>2015</year>
<volume>28</volume>
<numero>6</numero>
<issue>6</issue>
<page-range>2605-20</page-range></nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Stable reactive power balancing strategies of grid-connected photovoltaic inverter network]]></article-title>
<source><![CDATA[International Journal of Robust and Nonlinear Control]]></source>
<year>2016</year>
<volume>26</volume>
<numero>9</numero>
<issue>9</issue>
<page-range>2023-46</page-range></nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Park]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Byun]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Lee]]></surname>
<given-names><![CDATA[J.-R.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Bio-Inspired Load-Balancing Framework for Loosely Coupled Heterogeneous Server Systems]]></article-title>
<source><![CDATA[IEEE Transactions on Computers]]></source>
<year>2016</year>
<volume>65</volume>
<numero>11</numero>
<issue>11</issue>
<page-range>3280-92</page-range></nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Alam]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Raza]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[A bacterial foraging-based batch scheduling model for distributed systems]]></article-title>
<source><![CDATA[International Journal of Bio-Inspired Computation]]></source>
<year>2018</year>
<page-range>1-11</page-range></nlm-citation>
</ref>
<ref id="B17">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hurtado]]></surname>
<given-names><![CDATA[É. F. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Sotelo]]></surname>
<given-names><![CDATA[J. A. L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Distribución espacial de agentes autónomos basada en la teoría de forrajeo para aplicaciones de vigilancia y monitoreo]]></article-title>
<source><![CDATA[El Hombre y la Maquina]]></source>
<year>2013</year>
<numero>41</numero>
<issue>41</issue>
<page-range>64-70</page-range></nlm-citation>
</ref>
<ref id="B18">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Finke]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Decision and Control, 2005 and 2005 European Control Conference]]></source>
<year>2005</year>
<conf-name><![CDATA[ CDC-ECC&#8217;05. 44th IEEE Conference]]></conf-name>
<conf-loc> </conf-loc>
<page-range>3566-71</page-range></nlm-citation>
</ref>
<ref id="B19">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Finke]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Stable cooperative vehicle distributions for surveillance]]></article-title>
<source><![CDATA[Journal of Dynamic Systems, Measurement, and Control]]></source>
<year>2007</year>
<volume>129</volume>
<numero>5</numero>
<issue>5</issue>
<page-range>597-608</page-range></nlm-citation>
</ref>
<ref id="B20">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Finke]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Passino]]></surname>
<given-names><![CDATA[K. M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Stable emergent heterogeneous agent distributions in noisy environments]]></source>
<year>2006</year>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
