\BOOKMARK [0][-]{titulo.0}{P\341gina de T\355tulo}{}% 1
\BOOKMARK [0][-]{dedicatoria.0}{Dedicatoria}{}% 2
\BOOKMARK [0][-]{chapter*.1}{Agradecimientos}{}% 3
\BOOKMARK [0][-]{chapter*.2}{Resumen}{}% 4
\BOOKMARK [0][-]{indices.0}{\315ndices}{}% 5
\BOOKMARK [1][-]{tabla de contenidos.1}{Tabla de contenidos}{indices.0}% 6
\BOOKMARK [1][-]{indice de figuras.1}{\315ndice de figuras}{indices.0}% 7
\BOOKMARK [1][-]{indice de tablas.1}{\315ndice de tablas}{indices.0}% 8
\BOOKMARK [0][-]{chapter.1}{Introducci\363n}{}% 9
\BOOKMARK [1][-]{section.1.1}{Introducci\363n}{chapter.1}% 10
\BOOKMARK [1][-]{section.1.2}{Alcances}{chapter.1}% 11
\BOOKMARK [1][-]{section.1.3}{Objetivos}{chapter.1}% 12
\BOOKMARK [2][-]{subsection.1.3.1}{Objetivos Espec\355ficos}{section.1.3}% 13
\BOOKMARK [1][-]{section.1.4}{Contenido}{chapter.1}% 14
\BOOKMARK [0][-]{chapter.2}{Conceptos Generales}{}% 15
\BOOKMARK [1][-]{section.2.1}{Rob\363tica}{chapter.2}% 16
\BOOKMARK [1][-]{section.2.2}{Rob\363tica de enjambre}{chapter.2}% 17
\BOOKMARK [1][-]{section.2.3}{Inteligencia Artificial}{chapter.2}% 18
\BOOKMARK [2][-]{subsection.2.3.1}{Machine Learning}{section.2.3}% 19
\BOOKMARK [1][-]{section.2.4}{Simulaci\363n y Software}{chapter.2}% 20
\BOOKMARK [2][-]{subsection.2.4.1}{Sistemas Operativos}{section.2.4}% 21
\BOOKMARK [3][-]{subsubsection.2.4.1.1}{Windows}{subsection.2.4.1}% 22
\BOOKMARK [3][-]{subsubsection.2.4.1.2}{Linux}{subsection.2.4.1}% 23
\BOOKMARK [3][-]{subsubsection.2.4.1.3}{ROS}{subsection.2.4.1}% 24
\BOOKMARK [2][-]{subsection.2.4.2}{Gazebo, V-rep, Blender, Inventor, Meshlab}{section.2.4}% 25
\BOOKMARK [1][-]{section.2.5}{Conclusi\363n parcial}{chapter.2}% 26
\BOOKMARK [2][-]{subsection.2.5.1}{Ubuntu}{section.2.5}% 27
\BOOKMARK [2][-]{subsection.2.5.2}{ROS}{section.2.5}% 28
\BOOKMARK [2][-]{subsection.2.5.3}{Gazebo}{section.2.5}% 29
\BOOKMARK [2][-]{subsection.2.5.4}{Machine Learning}{section.2.5}% 30
\BOOKMARK [0][-]{chapter.3}{Soluci\363n Propuesta}{}% 31
\BOOKMARK [1][-]{section.3.1}{Caseo de Estudio}{chapter.3}% 32
\BOOKMARK [2][-]{subsection.3.1.1}{Problem\341tica}{section.3.1}% 33
\BOOKMARK [2][-]{subsection.3.1.2}{Alcances}{section.3.1}% 34
\BOOKMARK [2][-]{subsection.3.1.3}{Segmentaci\363n del Problema}{section.3.1}% 35
\BOOKMARK [3][-]{subsubsection.3.1.3.1}{Q-Learning}{subsection.3.1.3}% 36
\BOOKMARK [3][-]{subsubsection.3.1.3.2}{Algoritmos de programaci\363n}{subsection.3.1.3}% 37
\BOOKMARK [1][-]{section.3.2}{Esquema General}{chapter.3}% 38
\BOOKMARK [2][-]{subsection.3.2.1}{Estructura}{section.3.2}% 39
\BOOKMARK [2][-]{subsection.3.2.2}{Diagrama de flujo}{section.3.2}% 40
\BOOKMARK [1][-]{section.3.3}{Robots a utilizar}{chapter.3}% 41
\BOOKMARK [2][-]{subsection.3.3.1}{Estaci\363n Base\(REB\)}{section.3.3}% 42
\BOOKMARK [2][-]{subsection.3.3.2}{Robot Router Aut\363nomo\(RRA\)}{section.3.3}% 43
\BOOKMARK [2][-]{subsection.3.3.3}{Robot Explorador Aut\363nomo\(REA\)}{section.3.3}% 44
\BOOKMARK [1][-]{section.3.4}{C\363digo comunicaci\363n}{chapter.3}% 45
\BOOKMARK [2][-]{subsection.3.4.1}{Machine Learning}{section.3.4}% 46
\BOOKMARK [0][-]{chapter.4}{Lenguajes y aplicaciones utilizadas}{}% 47
\BOOKMARK [1][-]{section.4.1}{Lenguaje de programaci\363n XML}{chapter.4}% 48
\BOOKMARK [2][-]{subsection.4.1.1}{Ventajas}{section.4.1}% 49
\BOOKMARK [2][-]{subsection.4.1.2}{Estructura de un documento XML}{section.4.1}% 50
\BOOKMARK [3][-]{subsubsection.4.1.2.1}{Pr\363logo}{subsection.4.1.2}% 51
\BOOKMARK [3][-]{subsubsection.4.1.2.2}{Cuerpo}{subsection.4.1.2}% 52
\BOOKMARK [3][-]{subsubsection.4.1.2.3}{Elementos}{subsection.4.1.2}% 53
\BOOKMARK [3][-]{subsubsection.4.1.2.4}{Atributos}{subsection.4.1.2}% 54
\BOOKMARK [3][-]{subsubsection.4.1.2.5}{Entidades predefinidas}{subsection.4.1.2}% 55
\BOOKMARK [3][-]{subsubsection.4.1.2.6}{Comentarios}{subsection.4.1.2}% 56
\BOOKMARK [2][-]{subsection.4.1.3}{Sintaxis}{section.4.1}% 57
\BOOKMARK [1][-]{section.4.2}{XML Robot Description Format\(URDF\)}{chapter.4}% 58
\BOOKMARK [2][-]{subsection.4.2.1}{Link}{section.4.2}% 59
\BOOKMARK [3][-]{subsubsection.4.2.1.1}{Atributos}{subsection.4.2.1}% 60
\BOOKMARK [3][-]{subsubsection.4.2.1.2}{elementos}{subsection.4.2.1}% 61
\BOOKMARK [2][-]{subsection.4.2.2}{Joint}{section.4.2}% 62
\BOOKMARK [3][-]{subsubsection.4.2.2.1}{atributos}{subsection.4.2.2}% 63
\BOOKMARK [3][-]{subsubsection.4.2.2.2}{elementos}{subsection.4.2.2}% 64
\BOOKMARK [3][-]{subsubsection.4.2.2.3}{Archivos Xacro Macro}{subsection.4.2.2}% 65
\BOOKMARK [0][-]{chapter.5}{Implementaci\363n}{}% 66
\BOOKMARK [1][-]{section.5.1}{Introducci\363n}{chapter.5}% 67
\BOOKMARK [2][-]{subsection.5.1.1}{Main}{section.5.1}% 68
\BOOKMARK [2][-]{subsection.5.1.2}{Listener}{section.5.1}% 69
\BOOKMARK [2][-]{subsection.5.1.3}{Comandos}{section.5.1}% 70
\BOOKMARK [1][-]{section.5.2}{Estado de los Robots}{chapter.5}% 71
\BOOKMARK [2][-]{subsection.5.2.1}{Load}{section.5.2}% 72
\BOOKMARK [2][-]{subsection.5.2.2}{OnUpdate}{section.5.2}% 73
\BOOKMARK [2][-]{subsection.5.2.3}{buscar}{section.5.2}% 74
\BOOKMARK [2][-]{subsection.5.2.4}{pintar}{section.5.2}% 75
\BOOKMARK [2][-]{subsection.5.2.5}{cargarUniones}{section.5.2}% 76
\BOOKMARK [1][-]{section.5.3}{Cantidad de Robots Router Aut\363nomos}{chapter.5}% 77
\BOOKMARK [2][-]{subsection.5.3.1}{Adicionar RRA}{section.5.3}% 78
\BOOKMARK [2][-]{subsection.5.3.2}{Variables Globales Auxiliares}{section.5.3}% 79
\BOOKMARK [2][-]{subsection.5.3.3}{IARobot}{section.5.3}% 80
\BOOKMARK [2][-]{subsection.5.3.4}{enviarRos}{section.5.3}% 81
\BOOKMARK [1][-]{section.5.4}{Inteligencia Artificial}{chapter.5}% 82
\BOOKMARK [2][-]{subsection.5.4.1}{calcularRSSI}{section.5.4}% 83
\BOOKMARK [2][-]{subsection.5.4.2}{Accion}{section.5.4}% 84
\BOOKMARK [2][-]{subsection.5.4.3}{getDeseado}{section.5.4}% 85
\BOOKMARK [1][-]{section.5.5}{Trayectoria del Robot Explorador Aut\363nomo}{chapter.5}% 86
\BOOKMARK [2][-]{subsection.5.5.1}{procesar}{section.5.5}% 87
\BOOKMARK [2][-]{subsection.5.5.2}{mover}{section.5.5}% 88
\BOOKMARK [2][-]{subsection.5.5.3}{parametrizar}{section.5.5}% 89
\BOOKMARK [2][-]{subsection.5.5.4}{Trayectoria zigzag}{section.5.5}% 90
\BOOKMARK [2][-]{subsection.5.5.5}{Trayectoria L Derecha}{section.5.5}% 91
\BOOKMARK [1][-]{section.5.6}{Iniciar Simulaci\363n}{chapter.5}% 92
\BOOKMARK [0][-]{chapter.6}{An\341lisis de Resultados}{}% 93
\BOOKMARK [1][-]{section.6.1}{Introducci\363n}{chapter.6}% 94
\BOOKMARK [1][-]{section.6.2}{Recurso computacional}{chapter.6}% 95
\BOOKMARK [2][-]{subsection.6.2.1}{An\341lisis Monitor de Sistema}{section.6.2}% 96
\BOOKMARK [2][-]{subsection.6.2.2}{Informaci\363n por consola}{section.6.2}% 97
\BOOKMARK [3][-]{subsubsection.6.2.2.1}{Debug Gazebo}{subsection.6.2.2}% 98
\BOOKMARK [3][-]{subsubsection.6.2.2.2}{Estado robots}{subsection.6.2.2}% 99
\BOOKMARK [1][-]{section.6.3}{Visualizaci\363n}{chapter.6}% 100
\BOOKMARK [2][-]{subsection.6.3.1}{An\341lisis trayectorias}{section.6.3}% 101
\BOOKMARK [3][-]{subsubsection.6.3.1.1}{Trayectoria zigzag}{subsection.6.3.1}% 102
\BOOKMARK [3][-]{subsubsection.6.3.1.2}{Trayectoria L derecha}{subsection.6.3.1}% 103
\BOOKMARK [1][-]{section.6.4}{An\341lisis de variables}{chapter.6}% 104
\BOOKMARK [2][-]{subsubsection.6.4.0.1}{Trayectoria zigzag}{section.6.4}% 105
\BOOKMARK [3][-]{subsubsection.6.4.0.2}{Trayectoria L derecha}{subsubsection.6.4.0.1}% 106
\BOOKMARK [0][-]{chapter.7}{Conclusiones}{}% 107
\BOOKMARK [1][-]{section.7.1}{Conclusi\363n}{chapter.7}% 108
\BOOKMARK [1][-]{section.7.2}{Trabajos futuros}{chapter.7}% 109
\BOOKMARK [2][-]{subsection.7.2.1}{Cambio de Robots}{section.7.2}% 110
\BOOKMARK [2][-]{subsection.7.2.2}{Modo trayectoria}{section.7.2}% 111
\BOOKMARK [2][-]{subsection.7.2.3}{Cambio de par\341metros de los robots}{section.7.2}% 112
\BOOKMARK [2][-]{subsection.7.2.4}{Utilizaci\363n de sensores simulados}{section.7.2}% 113
\BOOKMARK [2][-]{subsection.7.2.5}{Optimizaci\363n del c\363digo}{section.7.2}% 114
\BOOKMARK [2][-]{subsection.7.2.6}{HMI con visualizaci\363n de estados}{section.7.2}% 115
\BOOKMARK [-1][-]{part.1}{I An\351xos}{}% 116
\BOOKMARK [0][-]{appendix.Alph1}{ROS}{part.1}% 117
\BOOKMARK [1][-]{section.Alph1.1}{Introducci\363n a ROS}{appendix.Alph1}% 118
\BOOKMARK [1][-]{section.Alph1.2}{Conceptos b\341sicos}{appendix.Alph1}% 119
\BOOKMARK [1][-]{section.Alph1.3}{Componentes Principales}{appendix.Alph1}% 120
\BOOKMARK [2][-]{subsection.Alph1.3.1}{Infraestructura de comunicaciones}{section.Alph1.3}% 121
\BOOKMARK [2][-]{subsection.Alph1.3.2}{Caracter\355sticas Rob\363ticas espec\355ficas}{section.Alph1.3}% 122
\BOOKMARK [3][-]{subsubsection.Alph1.3.2.1}{Mensajes est\341ndar de robot}{subsection.Alph1.3.2}% 123
\BOOKMARK [3][-]{subsubsection.Alph1.3.2.2}{Librer\355a geom\351trica de robot}{subsection.Alph1.3.2}% 124
\BOOKMARK [3][-]{subsubsection.Alph1.3.2.3}{Unidades Utilizadas}{subsection.Alph1.3.2}% 125
\BOOKMARK [3][-]{subsubsection.Alph1.3.2.4}{Estructura del Robot}{subsection.Alph1.3.2}% 126
\BOOKMARK [3][-]{subsubsection.Alph1.3.2.5}{Diagn\363sticos}{subsection.Alph1.3.2}% 127
\BOOKMARK [2][-]{subsection.Alph1.3.3}{Herramientas}{section.Alph1.3}% 128
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.1}{Rosnode}{subsection.Alph1.3.3}% 129
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.2}{Rostopic}{subsection.Alph1.3.3}% 130
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.3}{Rosservice}{subsection.Alph1.3.3}% 131
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.4}{Rosparam}{subsection.Alph1.3.3}% 132
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.5}{Package}{subsection.Alph1.3.3}% 133
\BOOKMARK [3][-]{subsubsection.Alph1.3.3.6}{Rosbash}{subsection.Alph1.3.3}% 134
\BOOKMARK [2][-]{subsection.Alph1.3.4}{Integraci\363n con librer\355as}{section.Alph1.3}% 135
\BOOKMARK [0][-]{appendix.Alph2}{Gazebo}{part.1}% 136
\BOOKMARK [1][-]{section.Alph2.1}{Introducci\363n a Gazebo}{appendix.Alph2}% 137
\BOOKMARK [1][-]{section.Alph2.2}{Componentes Principales}{appendix.Alph2}% 138
\BOOKMARK [1][-]{section.Alph2.3}{Ejecuci\363n}{appendix.Alph2}% 139
\BOOKMARK [1][-]{section.Alph2.4}{Utilidades}{appendix.Alph2}% 140
\BOOKMARK [2][-]{subsection.Alph2.4.1}{Control de c\341mara}{section.Alph2.4}% 141
\BOOKMARK [2][-]{subsection.Alph2.4.2}{Dise\361o de Mundos}{section.Alph2.4}% 142
\BOOKMARK [2][-]{subsection.Alph2.4.3}{Visualizaci\363n de Sensores}{section.Alph2.4}% 143
\BOOKMARK [2][-]{subsection.Alph2.4.4}{Importaci\363n de modelos 3D al mundo}{section.Alph2.4}% 144
\BOOKMARK [2][-]{subsection.Alph2.4.5}{Comandos \332tiles}{section.Alph2.4}% 145
\BOOKMARK [3][-]{subsubsection.Alph2.4.5.1}{Movimiento de un robot}{subsection.Alph2.4.5}% 146
\BOOKMARK [-1][-]{appendix*.45}{Bibliograf\355a}{}% 147
\BOOKMARK [0][-]{section*.46}{Lista de acr\363nimos}{appendix*.45}% 148
\BOOKMARK [-1][-]{fin.-1}{Fin}{}% 149
