Bioinspired algorithm of robot network for assistance in search and rescue operations

ilustraciones, diagramas, fotografías

Autores:: Cardona Calderon, Gustavo Andres

Tipo de recurso:

Fecha de publicación:: 2023

Institución:: Universidad Nacional de Colombia

Repositorio:: Universidad Nacional de Colombia

Idioma:: eng

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repository_id_str
dc.title.eng.fl_str_mv	Bioinspired algorithm of robot network for assistance in search and rescue operations
dc.title.translated.spa.fl_str_mv	Algoritmo bioinspirado a redes de robots para la asistencia en operaciones de busqueda y rescate
title	Bioinspired algorithm of robot network for assistance in search and rescue operations
spellingShingle	Bioinspired algorithm of robot network for assistance in search and rescue operations 620 - Ingeniería y operaciones afines Operaciones de búsqueda y rescate Trabajos de rescate Ciencia militar Search and rescue operations Rescue work Military art and science Robots heterogeneos Redes de robots Control en tiempo real Busqueda y rescate Heterogeneous Robot Robots Network Real Time Control Search and Rescue
title_short	Bioinspired algorithm of robot network for assistance in search and rescue operations
title_full	Bioinspired algorithm of robot network for assistance in search and rescue operations
title_fullStr	Bioinspired algorithm of robot network for assistance in search and rescue operations
title_full_unstemmed	Bioinspired algorithm of robot network for assistance in search and rescue operations
title_sort	Bioinspired algorithm of robot network for assistance in search and rescue operations
dc.creator.fl_str_mv	Cardona Calderon, Gustavo Andres
dc.contributor.advisor.none.fl_str_mv	Mojica Nava, Eduardo Alirio
dc.contributor.author.none.fl_str_mv	Cardona Calderon, Gustavo Andres
dc.contributor.researchgroup.spa.fl_str_mv	Programa de Investigacion sobre Adquisicion y Analisis de Señales Paas-Un
dc.contributor.orcid.spa.fl_str_mv	Cardona, Gustavo A. [0000-0002-4257-9415]
dc.subject.ddc.spa.fl_str_mv	620 - Ingeniería y operaciones afines
topic	620 - Ingeniería y operaciones afines Operaciones de búsqueda y rescate Trabajos de rescate Ciencia militar Search and rescue operations Rescue work Military art and science Robots heterogeneos Redes de robots Control en tiempo real Busqueda y rescate Heterogeneous Robot Robots Network Real Time Control Search and Rescue
dc.subject.lemb.spa.fl_str_mv	Operaciones de búsqueda y rescate Trabajos de rescate Ciencia militar
dc.subject.lemb.eng.fl_str_mv	Search and rescue operations Rescue work Military art and science
dc.subject.proposal.spa.fl_str_mv	Robots heterogeneos Redes de robots Control en tiempo real Busqueda y rescate
dc.subject.proposal.eng.fl_str_mv	Heterogeneous Robot Robots Network Real Time Control Search and Rescue
description	ilustraciones, diagramas, fotografías
publishDate	2023
dc.date.accessioned.none.fl_str_mv	2023-10-26T14:04:40Z
dc.date.available.none.fl_str_mv	2023-10-26T14:04:40Z
dc.date.issued.none.fl_str_mv	2023-10
dc.type.spa.fl_str_mv	Trabajo de grado - Maestría
dc.type.driver.spa.fl_str_mv	info:eu-repo/semantics/masterThesis
dc.type.version.spa.fl_str_mv	info:eu-repo/semantics/acceptedVersion
dc.type.content.spa.fl_str_mv	Text
dc.type.redcol.spa.fl_str_mv	http://purl.org/redcol/resource_type/TM
status_str	acceptedVersion
dc.identifier.uri.none.fl_str_mv	https://repositorio.unal.edu.co/handle/unal/84836
dc.identifier.instname.spa.fl_str_mv	Universidad Nacional de Colombia
dc.identifier.reponame.spa.fl_str_mv	Repositorio Institucional Universidad Nacional de Colombia
dc.identifier.repourl.spa.fl_str_mv	https://repositorio.unal.edu.co/
url	https://repositorio.unal.edu.co/handle/unal/84836 https://repositorio.unal.edu.co/
identifier_str_mv	Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia
dc.language.iso.spa.fl_str_mv	eng
language	eng
dc.relation.references.spa.fl_str_mv	Arevalo-Castiblanco, M ; Calderon, J: Robust adaptive synchronization of interconnected heterogeneous quadrotors transporting a cable-suspended load. En: 2021 IEEE International Conference on Robotics and Automation (ICRA) IEEE, 2021, p.31–37 Aulinas, Josep ; Petillot, Yvan ; Salvi, Joaquim ; Llado´, Xavier: The SLAM problem: a survey. En: Artificial Intelligence Research and Development (2008), p.363–371 Bai, He ; Arcak, Murat ; Wen, John: Cooperative control design: a systematic, passivity-based approach. Springer Science & Business Media, 2011 Baldi, Simone ; Frasca, Paolo: Adaptive synchronization of unknown heterogeneous agents: An adaptive virtual model reference approach. En: Journal of the Franklin Institute 356 (2019), Nr. 2, p. 935–955 Bell, John E. ; McMullen, Patrick R.: Ant colony optimization techniques for the vehicle routing problem. En: Advanced engineering informatics 18 (2004), Nr. 1, p. 41–48 Belta, Calin ; Yordanov, Boyan ; Gol, Ebru A.: Formal methods for discrete-time dynamical systems. Vol. 15. Springer, 2017 Bernard, Markus ; Kondak, Konstantin ; Maza, Ivan ; Ollero, Anibal: Autono mous transportation and deployment with aerial robots for search and rescue missions. En: Journal of Field Robotics 28 (2011), Nr. 6, p. 914–931 Bhatti, Shehroze ; Desmaison, Alban ; Miksik, Ondrej ; Nardelli, Nantas ; Siddharth, N ; Torr, Philip H.: Playing doom with slam-augmented deep rein forcement learning. En: arXiv preprint arXiv:1612.00380 (2016) Bruemmer, David J. ; Dudenhoeffer, Donald D. ; McKay, Mark D. ; Anderson, Matthew O.: A robotic swarm for spill finding and perimeter formation / IDAHO NATIONAL ENGINEERING AND ENVIRONMENTAL LAB IDAHO FALLS. 2002. – Informe de Investigaci´on Bullo, Francesco ; Cortes, Jorge ; Martinez, Sonia: Distributed control of robo tic networks: a mathematical approach to motion coordination algorithms. Princeton University Press, 2009 Cardona, GA ; Bravo, C ; Quesada, W ; Ruiz, D ; Obeng, M ; Wu, X ; Calderon, JM: Autonomous Navigation for Exploration of Unknown Environments and Collision Avoidance in Mobile Robots Using Reinforcement Learning. En: 2019 SoutheastCon IEEE, 2019, p. 1–7 Cardona, GA ; Tellez-Castro, D ; Mojica-Nava, E: Cooperative transportation of a cable-suspended load by multiple quadrotors. En: IFAC-PapersOnLine 52 (2019), Nr. 20, p. 145–150 Cardona, Gustavo A. ; Calderon, Juan M.: Robot swarm navigation and victim detection using rendezvous consensus in search and rescue operations. En: Applied Sciences 9 (2019), Nr. 8, p. 1702 Cardona, Gustavo A. ; D’Antonio, Diego S. ; Fierro, Rafael ; Saldana, Da vid: Adaptive control for cooperative aerial transportation using catenary robots. En: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) IEEE, 2021, p. 1–8 Cardona, Gustavo A. ; D’Antonio, Diego S. ; Vasile, Cristian-Ioan ; Saldana, David: Non-prehensile manipulation of cuboid objects using a catenary robot. En: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) IEEE, 2021, p. 5270–5275 Cardona, Gustavo A. ; Kamale, Disha ; Vasile, Cristian-Ioan: Mixed Integer Linear Programming Approach for Control Synthesis with Weighted Signal Temporal Logic. En: Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, 2023, p. 1–12 Cardona, Gustavo A. ; Leahy, Kevin ; Vasile, Cristian-Ioan: Temporal Logic Swarm Control with Splitting and Merging. En: 2023 IEEE International Conference on Robotics and Automation (ICRA) IEEE, 2023, p. 12423–12429 Cardona, Gustavo A. ; Ramirez-Rugeles, Juan ; Mojica-Nava, Eduardo ; Cal deron, Juan M.: Visual victim detection and quadrotor-swarm coordination control in search and rescue environment. En: International Journal of Electrical and Computer Engineering 11 (2021), Nr. 3, p. 2079 Cardona, Gustavo A. ; Saldana˜ , David ; Vasile, Cristian-Ioan: Planning for Mo dular Aerial Robotic Tools with Temporal Logic Constraints. En: 2022 IEEE 61st Conference on Decision and Control (CDC) IEEE, 2022, p. 2878–2883 Cardona, Gustavo A. ; Tellez-Castro, Duvan ; Calderon, J ; Mojica-Nava, Eduardo: Adaptive Multi-Quadrotor Control for Cooperative Transportation of a Cable Suspended Load. En: 2021 European Control Conference (ECC) IEEE, 2021, p. 696–701 Cardona, Gustavo A. ; Vasile, Cristian-Ioan: Partial Satisfaction of Signal Temporal Logic Specifications for Coordination of Multi-robot Systems. En: Algorithmic Foundations of Robotics XV: Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics Springer, 2022, p. 223–238 Cardona, Gustavo A. ; Vasile, Cristian-Ioan: Preferences on Partial Satisfaction using Weighted Signal Temporal Logic Specifications. En: 2023 European Control Conference (ECC) IEEE, 2023, p. 1–6 ardona, Gustavo A. ; Yanguas-Rojas, David ; Arevalo-Castiblanco, Miguel F. ; Mojica-Nava, Eduardo: Ant-Based Multi-Robot Exploration in Non-Convex Space without Global-Connectivity Constraints. En: 2019 18th European Control Con ference (ECC) IEEE, 2019, p. 2065–2070 Chandrasekhar, Arjun ; Gordon, Deborah M. ; Navlakha, Saket: A distributed algorithm to maintain and repair the trail networks of arboreal ants. En: Scientific reports 8 (2018), Nr. 1, p. 1–19 Cook, Zoe ; Franks, Daniel W. ; Robinson, Elva J.: Exploration versus exploitation in polydomous ant colonies. En: Journal of theoretical biology 323 (2013), p. 49–56 Countryman, Stefanie M. ; Stumpe, Martin C. ; Crow, Sam P. ; Adler, Frederick R. ; Greene, Michael J. ; Vonshak, Merav ; Gordon, Deborah M.: Collective search by ants in microgravity. En: Frontiers in Ecology and Evolution 3 (2015), p. 25 Cronin, Adam L.: Conditional use of social and private information guides house hunting ants. En: PloS one 8 (2013), Nr. 5 Cronin, Adam L.: Ratio-dependent quantity discrimination in quorum sensing ants. En: Animal cognition 17 (2014), Nr. 6, p. 1261–1268 Cruz, Patricio J. ; Fierro, Rafael: Cable-suspended load lifting by a quadrotor UAV: hybrid model, trajectory generation, and control. En: Autonomous Robots 41 (2017), Nr. 8, p. 1629–1643 Davids, Angela: Urban search and rescue robots: from tragedy to technology. En: IEEE Intelligent systems 17 (2002), Nr. 2, p. 81–83 Davidson, Jacob D. ; Arauco-Aliaga, Roxana P. ; Crow, Sam ; Gordon, Debo rah M. ; Goldman, Mark S.: Effect of interactions between harvester ants on forager decisions. En: Frontiers in ecology and evolution 4 (2016), p. 115 Debout, Gabriel ; Schatz, Bertrand ; Elias, Marianne ; Mckey, Doyle: Polydomy in ants: what we know, what we think we know, and what remains to be done. En: Biological Journal of the Linnean Society 90 (2007), Nr. 2, p. 319–348 Denker, Ahmet ; ˙Is¸eri, Mehmet C.: Design and implementation of a semi-autonomous mobile search and rescue robot: SALVOR. En: 2017 International Artificial Intelligence and Data Processing Symposium (IDAP) IEEE, 2017, p. 1–6 Ducatelle, Frederick ; Di Caro, Gianni A. ; Pinciroli, Carlo ; Mondada, Fran cesco ; Gambardella, Luca: Communication assisted navigation in robotic swarms: self-organization and cooperation. En: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems IEEE, 2011, p. 4981–4988 D’antonio, Diego S. ; Cardona, Gustavo A. ; Saldana, David: The catenary robot: Design and control of a cable propelled by two quadrotors. En: IEEE Robotics and Automation Letters 6 (2021), Nr. 2, p. 3857–3863 D’Antonio, Diego S. ; Xu, Jiawei ; Cardona, Gustavo A. ; Saldana, David: Customizable-ModQuad: a Versatile Hardware-Software Platform to Develop Light weight and Low-cost Aerial Vehicles. Elibol, Ercan ; Calderon, Juan ; Llofriu, Martin ; Moreno, Wilfrido ; Weitzen feld, Alfredo: Analyzing and Reducing Energy Usage in a Humanoid Robot During Standing Up and Sitting Down Tasks. En: International Journal of Humanoid Robotics 13 (2016), Nr. 04, p. 1650014 Elibol, Ercan ; Calderon, Juan ; Llofriu, Martin ; Quintero, Carlos ; Moreno, Wilfrido ; Weitzenfeld, Alfredo: Power usage reduction of humanoid standing process using q-learning. En: Robot Soccer World Cup Springer, 2015, p. 251–263 Freas, Cody A. ; Schultheiss, Patrick: How to navigate in different environments and situations: lessons from ants. En: Frontiers in psychology 9 (2018), p. 841 Fujisawa, Shoichiro ; Kurozumi, Ryota ; Yamamoto, Toru ; Suita, Yoshikazu: Path planning for mobile robots using an improved reinforcement learning scheme. En: Proceedings of the IEEE Internatinal Symposium on Intelligent Control IEEE, 2002, p. 67–74 Garcıa, Pedro ; Gomez , A: ANTS framework for cooperative work environments. En: IEEE Computer 36 (2003), Nr. 3, p. 56–62 Giraldeau, Luc-Alain ; Caraco, Thomas: Social foraging theory. Princeton University Press, 2018 Goebel, Rafal ; Sanfelice, Ricardo G. ; Teel, Andrew R.: Hybrid dynamical sys tems. En: IEEE control systems magazine 29 (2009), Nr. 2, p. 28–93 Gorbatsevich, Vladimir V. ; Vinberg, Ernest B.: Lie Groups and Lie Algebras I: Foundations of Lie Theory Lie Transformation Groups. Vol. 20. Springer Science & Business Media, 1996 Gordon, Deborah M.: The dynamics of foraging trails in the tropical arboreal ant Cephalotes goniodontus. En: PLoS One 7 (2012), Nr. 11 Gordon, Deborah M.: The evolution of the algorithms for collective behavior. En: Cell systems 3 (2016), Nr. 6, p. 514–520 Haumann, Dominik ; Willert, Volker ; Listmann, Kim D.: DisCoverage: from coverage to distributed multi-robot exploration. En: IFAC Proceedings Volumes 46 (2013), Nr. 27, p. 328–335 Ioannou, Petros ; Fidan, Bari¸s: Adaptive control tutorial. SIAM, 2006 Jurdjevic, Velimir: Geometric control theory. Cambridge university press, 1997 Kamale, Disha ; Karyofylli, Eleni ; Vasile, Cristian-Ioan: Automata-based optimal planning with relaxed specifications. En: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) IEEE, 2021, p. 6525–6530 Kotaru, Prasanth ; Wu, Guofan ; Sreenath, Koushil: Dynamics and control of a quadrotor with a payload suspended through an elastic cable. En: 2017 american control conference (ACC) IEEE, 2017, p. 3906–3913 Kumar, Vijay R. ; Waldron, Kenneth J.: Force distribution in closed kinematic chains. En: IEEE Journal on Robotics and Automation 4 (1988), Nr. 6, p. 657–664 Latty, Tanya ; Ramsch, Kai ; Ito, Kentaro ; Nakagaki, Toshiyuki ; Sumpter, David J. ; Middendorf, Martin ; Beekman, Madeleine: Structure and formation of ant transportation networks. En: Journal of The Royal Society Interface 8 (2011), Nr. 62, p. 1298–1306 LeCun, Yann ; Bottou, L´eon ; Bengio, Yoshua ; Haffner, Patrick: Gradient-based learning applied to document recognition. En: Proceedings of the IEEE 86 (1998), Nr. 11, p. 2278–2324 Lee, Taeyoung ; Leok, Melvin ; McClamroch, N H.: Geometric tracking control of a quadrotor UAV on SE (3). En: 49th IEEE conference on decision and control (CDC) IEEE, 2010, p. 5420–5425 Leon, Jose ; Cardona, Gustavo A. ; Botello, Andres ; Calderon, Juan M.: Robot swarms theory applicable to seek and rescue operation. En: Intelligent Systems Design and Applications: 16th International Conference on Intelligent Systems Design and Ap plications (ISDA 2016) held in Porto, Portugal, December 16-18, 2016 Springer, 2017, p. 1061–1070 Li, Caihong ; Zhang, Jingyuan ; Li, Yibin: Application of artificial neural network based on q-learning for mobile robot path planning. En: 2006 IEEE International Conference on Information Acquisition IEEE, 2006, p. 978–982 Liu, Yugang ; Nejat, Goldie: Robotic urban search and rescue: A survey from the control perspective. En: Journal of Intelligent & Robotic Systems 72 (2013), p. 147–165 Loianno, Giuseppe ; Kumar, Vijay: Cooperative transportation using small quadro tors using monocular vision and inertial sensing. En: IEEE Robotics and Automation Letters 3 (2017), Nr. 2, p. 680–687 Loianno, Giuseppe ; Kumar, Vijay: Cooperative transportation using small quadro tors using monocular vision and inertial sensing. 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dc.publisher.spa.fl_str_mv	Universidad Nacional de Colombia
dc.publisher.program.spa.fl_str_mv	Bogotá - Ingeniería - Maestría en Ingeniería - Automatización Industrial
dc.publisher.faculty.spa.fl_str_mv	Facultad de Ingeniería
dc.publisher.place.spa.fl_str_mv	Bogotá, Colombia
dc.publisher.branch.spa.fl_str_mv	Universidad Nacional de Colombia - Sede Bogotá
institution	Universidad Nacional de Colombia
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spelling	Atribución-NoComercial 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Mojica Nava, Eduardo Alirio609c35fb4a7e288ee81a2ef0fb802397Cardona Calderon, Gustavo Andresbf154da7656f90083d3ea066df7c787dPrograma de Investigacion sobre Adquisicion y Analisis de Señales Paas-UnCardona, Gustavo A. [0000-0002-4257-9415]2023-10-26T14:04:40Z2023-10-26T14:04:40Z2023-10https://repositorio.unal.edu.co/handle/unal/84836Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, diagramas, fotografíasThis thesis proposes a bio-inspired algorithm for robot networks assisting in the operations of search and rescue scenarios. We consider ants as social animals to study and abstract beha- viors that can be useful in the framework of search and rescue using robots. We consider three main topics to address when using robots to assist rescuers. First, the exploration and mapping of the disaster zones. For this, we consider the mecha- nisms and interactions of ants to explore their environment, look for food, avoid predators, and explore better places to establish a nest. Then, we deploy robots to explore the en- vironment and discourage robots from entering regions other robots have explored using pheromones as markers for the robots. We also abstract the randomness ants use to explore and implement a Q-learning algorithm that allows robots to explore unvisited regions. Second, the navigation and victim detection. Once the environment has been explored, we vi use Reynolds rules to allow the navigation of robots to create cohesion, attraction to target goals, and repulsion to obstacles and inter-agent collisions. Then, we use a neural network to determine whether what robots are detecting is a victim. Lastly, we use a consensus-like approach to classify victims or no victims based on distributed information. Lastly, ants have been famous for carrying loads that surpass their size and payload capacity by cooperating. We consider quadrotors to carry loads cooperatively that can be medical supplies or victims in search and rescue (Texto tomado de la fuente)Esta tesis propone un algoritmo bioinspirado para redes de robots que asisten en las operaciones de escenarios de busqueda y rescate. Consideramos a las hormigas como animales sociales para estudiar y abstraer comportamientos que pueden ser utiles en el marco de la busqueda y rescate mediante robots. Consideramos tres temas principales para abordar cuando se utilizan robots para ayudar a los rescatistas. Primero, la exploracion y mapeo de las zonas de desastre. Para esto, consideramos los mecanismos e interacciones de las hormigas para explorar su entorno, buscar comida, evitar depredadores y explorar mejores lugares para establecer un nido. Luego, desplegamos robots para explorar el entorno y disuadimos a los robots de ingresar a regiones que otros robots han explorado usando feromonas como marcadores para los robots. Tambien abstraemos la aleatoriedad que usan las hormigas para explorar e implementar un algoritmo Q-learning que permite a los robots explorar regiones no visitadas. En segundo lugar, la navegacion y deteccion de vıctimas. Una vez que se ha explorado el entorno, usamos las reglas de Reynolds para permitir que la navegacion de los robots cree cohesion, atraccion hacia los objetivos y repulsion hacia los obstaculos y las colisiones entre agentes. Luego, usamos una red neuronal para determinar si lo que detectan los robots es una vıctima. Por ultimo, utilizamos un enfoque de consenso para clasificar a las vıctimas o no vıctimas en funcion de la informacion distribuida. Por ultimo, las hormigas han sido famosas por llevar cargas que superan su tamano y capacidad de carga al cooperar. Consideramos quadrotors para transportar cargas de manera cooperativa que pueden ser suministros medicos o vıctimas en busqueda y rescate.MaestríaMagister en Ingenieria - Automatizacion IndustrialRoboticaxii, 109 páginasapplication/pdfengUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Automatización IndustrialFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá620 - Ingeniería y operaciones afinesOperaciones de búsqueda y rescateTrabajos de rescateCiencia militarSearch and rescue operationsRescue workMilitary art and scienceRobots heterogeneosRedes de robotsControl en tiempo realBusqueda y rescateHeterogeneous RobotRobots NetworkReal Time ControlSearch and RescueBioinspired algorithm of robot network for assistance in search and rescue operationsAlgoritmo bioinspirado a redes de robots para la asistencia en operaciones de busqueda y rescateTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMArevalo-Castiblanco, M ; Calderon, J: Robust adaptive synchronization of interconnected heterogeneous quadrotors transporting a cable-suspended load. En: 2021 IEEE International Conference on Robotics and Automation (ICRA) IEEE, 2021, p.31–37Aulinas, Josep ; Petillot, Yvan ; Salvi, Joaquim ; Llado´, Xavier: The SLAM problem: a survey. En: Artificial Intelligence Research and Development (2008), p.363–371Bai, He ; Arcak, Murat ; Wen, John: Cooperative control design: a systematic, passivity-based approach. Springer Science & Business Media, 2011Baldi, Simone ; Frasca, Paolo: Adaptive synchronization of unknown heterogeneous agents: An adaptive virtual model reference approach. En: Journal of the Franklin Institute 356 (2019), Nr. 2, p. 935–955Bell, John E. ; McMullen, Patrick R.: Ant colony optimization techniques for the vehicle routing problem. En: Advanced engineering informatics 18 (2004), Nr. 1, p. 41–48Belta, Calin ; Yordanov, Boyan ; Gol, Ebru A.: Formal methods for discrete-time dynamical systems. Vol. 15. 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En: Proceedings of the IEEE 99 (2011), Nr. 9, p. 1525–1540InvestigadoresLICENSElicense.txtlicense.txttext/plain; charset=utf-85879https://repositorio.unal.edu.co/bitstream/unal/84836/1/license.txteb34b1cf90b7e1103fc9dfd26be24b4aMD51ORIGINAL1013643584.2023.pdf1013643584.2023.pdfTesis de Maestría en Ingeniería - Automatización Industrialapplication/pdf36151572https://repositorio.unal.edu.co/bitstream/unal/84836/2/1013643584.2023.pdf2b8f771bc3b6d243d406201847d71955MD52THUMBNAIL1013643584.2023.pdf.jpg1013643584.2023.pdf.jpgGenerated Thumbnailimage/jpeg4654https://repositorio.unal.edu.co/bitstream/unal/84836/3/1013643584.2023.pdf.jpg92101cec7b07e69f782a4b4010f10ed7MD53unal/84836oai:repositorio.unal.edu.co:unal/848362024-08-19 23:10:34.843Repositorio Institucional Universidad Nacional de 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Bioinspired algorithm of robot network for assistance in search and rescue operations

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