Testing with autonomous aquatic robots using swarm algorithms

The project is based on swarm algorithms. Swarm robotics is characterized by a set of multiple robots without a defined, decentralized leader. Based on the interactions of animal collectives such as bees and ants, swarm robotics has the advantage of simple individuals capable of performing tasks together, which only one individual would not be able to perform. Initial tests were carried out in order to build and test the slam, which will later be done in the tanks. With a simplified system, with fewer components and without considering propulsion, and in a reduced space, smaller and closer to the computer without having the need to implement wireless communication with the computer; Testing can be done more quickly and before implementing all systems, making it easier and faster to implement and test mapping capabilities. Each robot consists of an Arduino, four DC motors, four ultrasonic sensors. The research methodology is divided into two stages: 1) research, implementation and testing of different algorithms using the Python programming language; and 2) execution of tests and simulations. The project aims to: 1) implement different algorithms for vehicle cooperation in 'swarm', using Python; 2) the design and execution of simulations and experimental tests with robots using such algorithms; and 3) the evaluation of the results and proposing changes in the physical design of the robots and implementation of new control routines