\babel@toc {spanish}{}
\contentsline {chapter}{Agradecimientos}{\es@scroman {vii}}{chapter*.1}% 
\contentsline {chapter}{Resumen}{\es@scroman {viii}}{chapter*.2}% 
\contentsline {chapter}{\numberline {1}Introducci\'on}{1}{chapter.1}% 
\contentsline {section}{\numberline {1.1}Introducci\'on}{1}{section.1.1}% 
\contentsline {section}{\numberline {1.2}Alcances}{2}{section.1.2}% 
\contentsline {section}{\numberline {1.3}Objetivos}{2}{section.1.3}% 
\contentsline {subsection}{\numberline {1.3.1}Objetivos Espec\IeC {\'\i }ficos}{2}{subsection.1.3.1}% 
\contentsline {section}{\numberline {1.4}Contenido}{3}{section.1.4}% 
\contentsline {chapter}{\numberline {2}Conceptos Generales}{4}{chapter.2}% 
\contentsline {section}{\numberline {2.1}Rob\'otica}{4}{section.2.1}% 
\contentsline {section}{\numberline {2.2}Rob\'otica de enjambre}{4}{section.2.2}% 
\contentsline {section}{\numberline {2.3}Inteligencia Artificial}{5}{section.2.3}% 
\contentsline {subsection}{\numberline {2.3.1}Machine Learning}{6}{subsection.2.3.1}% 
\contentsline {section}{\numberline {2.4}Simulaci\'on y Software}{7}{section.2.4}% 
\contentsline {subsection}{\numberline {2.4.1}Sistemas Operativos}{7}{subsection.2.4.1}% 
\contentsline {subsubsection}{\numberline {2.4.1.1}Windows}{7}{subsubsection.2.4.1.1}% 
\contentsline {subsubsection}{\numberline {2.4.1.2}Linux}{8}{subsubsection.2.4.1.2}% 
\contentsline {subsubsection}{\numberline {2.4.1.3}ROS}{8}{subsubsection.2.4.1.3}% 
\contentsline {subsection}{\numberline {2.4.2}Gazebo, V-rep, Blender, Inventor, Meshlab}{9}{subsection.2.4.2}% 
\contentsline {section}{\numberline {2.5}Conclusi\'on parcial}{10}{section.2.5}% 
\contentsline {subsection}{\numberline {2.5.1}Ubuntu}{10}{subsection.2.5.1}% 
\contentsline {subsection}{\numberline {2.5.2}ROS}{10}{subsection.2.5.2}% 
\contentsline {subsection}{\numberline {2.5.3}Gazebo}{11}{subsection.2.5.3}% 
\contentsline {subsection}{\numberline {2.5.4}Machine Learning}{11}{subsection.2.5.4}% 
\contentsline {chapter}{\numberline {3}Soluci\'on Propuesta}{12}{chapter.3}% 
\contentsline {section}{\numberline {3.1}Caseo de Estudio}{12}{section.3.1}% 
\contentsline {subsection}{\numberline {3.1.1}Problem\'atica}{12}{subsection.3.1.1}% 
\contentsline {subsection}{\numberline {3.1.2}Alcances}{15}{subsection.3.1.2}% 
\contentsline {subsection}{\numberline {3.1.3}Segmentaci\'on del Problema}{15}{subsection.3.1.3}% 
\contentsline {subsubsection}{\numberline {3.1.3.1}Q-Learning}{16}{subsubsection.3.1.3.1}% 
\contentsline {subsubsection}{\numberline {3.1.3.2}Algoritmos de programaci\'on}{19}{subsubsection.3.1.3.2}% 
\contentsline {section}{\numberline {3.2}Esquema General}{20}{section.3.2}% 
\contentsline {subsection}{\numberline {3.2.1}Estructura}{21}{subsection.3.2.1}% 
\contentsline {subsection}{\numberline {3.2.2}Diagrama de flujo}{23}{subsection.3.2.2}% 
\contentsline {section}{\numberline {3.3}Robots a utilizar}{24}{section.3.3}% 
\contentsline {subsection}{\numberline {3.3.1}Estaci\'on Base(REB)}{24}{subsection.3.3.1}% 
\contentsline {subsection}{\numberline {3.3.2}Robot Router Aut\'onomo(RRA)}{25}{subsection.3.3.2}% 
\contentsline {subsection}{\numberline {3.3.3}Robot Explorador Aut\'onomo(REA)}{26}{subsection.3.3.3}% 
\contentsline {section}{\numberline {3.4}C\'odigo comunicaci\'on}{26}{section.3.4}% 
\contentsline {subsection}{\numberline {3.4.1}Machine Learning}{27}{subsection.3.4.1}% 
\contentsline {chapter}{\numberline {4}Lenguajes y aplicaciones utilizadas}{28}{chapter.4}% 
\contentsline {section}{\numberline {4.1}Lenguaje de programaci\'on XML}{28}{section.4.1}% 
\contentsline {subsection}{\numberline {4.1.1}Ventajas}{29}{subsection.4.1.1}% 
\contentsline {subsection}{\numberline {4.1.2}Estructura de un documento XML}{29}{subsection.4.1.2}% 
\contentsline {subsubsection}{\numberline {4.1.2.1}Pr\'ologo}{29}{subsubsection.4.1.2.1}% 
\contentsline {subsubsection}{\numberline {4.1.2.2}Cuerpo}{30}{subsubsection.4.1.2.2}% 
\contentsline {subsubsection}{\numberline {4.1.2.3}Elementos}{30}{subsubsection.4.1.2.3}% 
\contentsline {subsubsection}{\numberline {4.1.2.4}Atributos}{30}{subsubsection.4.1.2.4}% 
\contentsline {subsubsection}{\numberline {4.1.2.5}Entidades predefinidas}{31}{subsubsection.4.1.2.5}% 
\contentsline {subsubsection}{\numberline {4.1.2.6}Comentarios}{31}{subsubsection.4.1.2.6}% 
\contentsline {subsection}{\numberline {4.1.3}Sintaxis}{31}{subsection.4.1.3}% 
\contentsline {section}{\numberline {4.2}XML Robot Description Format(URDF)}{32}{section.4.2}% 
\contentsline {subsection}{\numberline {4.2.1}Link}{33}{subsection.4.2.1}% 
\contentsline {subsubsection}{\numberline {4.2.1.1}Atributos}{34}{subsubsection.4.2.1.1}% 
\contentsline {subsubsection}{\numberline {4.2.1.2}elementos}{34}{subsubsection.4.2.1.2}% 
\contentsline {subsection}{\numberline {4.2.2}Joint}{37}{subsection.4.2.2}% 
\contentsline {subsubsection}{\numberline {4.2.2.1}atributos}{37}{subsubsection.4.2.2.1}% 
\contentsline {subsubsection}{\numberline {4.2.2.2}elementos}{38}{subsubsection.4.2.2.2}% 
\contentsline {subsubsection}{\numberline {4.2.2.3}Archivos Xacro Macro}{41}{subsubsection.4.2.2.3}% 
\contentsline {chapter}{\numberline {5}Implementaci\'on}{42}{chapter.5}% 
\contentsline {section}{\numberline {5.1}Introducci\'on}{42}{section.5.1}% 
\contentsline {subsection}{\numberline {5.1.1}Main}{42}{subsection.5.1.1}% 
\contentsline {subsection}{\numberline {5.1.2}Listener}{42}{subsection.5.1.2}% 
\contentsline {subsection}{\numberline {5.1.3}Comandos}{42}{subsection.5.1.3}% 
\contentsline {section}{\numberline {5.2}Estado de los Robots}{43}{section.5.2}% 
\contentsline {subsection}{\numberline {5.2.1}Load}{43}{subsection.5.2.1}% 
\contentsline {subsection}{\numberline {5.2.2}OnUpdate}{43}{subsection.5.2.2}% 
\contentsline {subsection}{\numberline {5.2.3}buscar}{44}{subsection.5.2.3}% 
\contentsline {subsection}{\numberline {5.2.4}pintar}{44}{subsection.5.2.4}% 
\contentsline {subsection}{\numberline {5.2.5}cargarUniones}{44}{subsection.5.2.5}% 
\contentsline {section}{\numberline {5.3}Cantidad de Robots Router Aut\'onomos}{44}{section.5.3}% 
\contentsline {subsection}{\numberline {5.3.1}Adicionar RRA}{45}{subsection.5.3.1}% 
\contentsline {subsection}{\numberline {5.3.2}Variables Globales Auxiliares}{46}{subsection.5.3.2}% 
\contentsline {subsection}{\numberline {5.3.3}IARobot}{48}{subsection.5.3.3}% 
\contentsline {subsection}{\numberline {5.3.4}enviarRos}{48}{subsection.5.3.4}% 
\contentsline {section}{\numberline {5.4}Inteligencia Artificial}{49}{section.5.4}% 
\contentsline {subsection}{\numberline {5.4.1}calcularRSSI}{49}{subsection.5.4.1}% 
\contentsline {subsection}{\numberline {5.4.2}Accion}{49}{subsection.5.4.2}% 
\contentsline {subsection}{\numberline {5.4.3}getDeseado}{51}{subsection.5.4.3}% 
\contentsline {section}{\numberline {5.5}Trayectoria del Robot Explorador Aut\'onomo}{51}{section.5.5}% 
\contentsline {subsection}{\numberline {5.5.1}procesar}{51}{subsection.5.5.1}% 
\contentsline {subsection}{\numberline {5.5.2}mover}{52}{subsection.5.5.2}% 
\contentsline {subsection}{\numberline {5.5.3}parametrizar}{52}{subsection.5.5.3}% 
\contentsline {subsection}{\numberline {5.5.4}Trayectoria zigzag}{53}{subsection.5.5.4}% 
\contentsline {subsection}{\numberline {5.5.5}Trayectoria L Derecha}{53}{subsection.5.5.5}% 
\contentsline {section}{\numberline {5.6}Iniciar Simulaci\'on}{54}{section.5.6}% 
\contentsline {chapter}{\numberline {6}An\'alisis de Resultados}{55}{chapter.6}% 
\contentsline {section}{\numberline {6.1}Introducci\'on}{55}{section.6.1}% 
\contentsline {section}{\numberline {6.2}Recurso computacional}{55}{section.6.2}% 
\contentsline {subsection}{\numberline {6.2.1}An\'alisis Monitor de Sistema}{56}{subsection.6.2.1}% 
\contentsline {subsection}{\numberline {6.2.2}Informaci\'on por consola}{59}{subsection.6.2.2}% 
\contentsline {subsubsection}{\numberline {6.2.2.1}Debug Gazebo}{60}{subsubsection.6.2.2.1}% 
\contentsline {subsubsection}{\numberline {6.2.2.2}Estado robots}{61}{subsubsection.6.2.2.2}% 
\contentsline {section}{\numberline {6.3}Visualizaci\'on}{61}{section.6.3}% 
\contentsline {subsection}{\numberline {6.3.1}An\'alisis trayectorias}{61}{subsection.6.3.1}% 
\contentsline {subsubsection}{\numberline {6.3.1.1}Trayectoria zigzag}{62}{subsubsection.6.3.1.1}% 
\contentsline {subsubsection}{\numberline {6.3.1.2}Trayectoria L derecha}{63}{subsubsection.6.3.1.2}% 
\contentsline {section}{\numberline {6.4}An\'alisis de variables}{64}{section.6.4}% 
\contentsline {subsubsection}{\numberline {6.4.0.1}Trayectoria zigzag}{64}{subsubsection.6.4.0.1}% 
\contentsline {subsubsection}{\numberline {6.4.0.2}Trayectoria L derecha}{66}{subsubsection.6.4.0.2}% 
\contentsline {chapter}{\numberline {7}Conclusiones}{68}{chapter.7}% 
\contentsline {section}{\numberline {7.1}Conclusi\'on}{68}{section.7.1}% 
\contentsline {section}{\numberline {7.2}Trabajos futuros}{69}{section.7.2}% 
\contentsline {subsection}{\numberline {7.2.1}Cambio de Robots}{69}{subsection.7.2.1}% 
\contentsline {subsection}{\numberline {7.2.2}Modo trayectoria}{69}{subsection.7.2.2}% 
\contentsline {subsection}{\numberline {7.2.3}Cambio de par\'ametros de los robots}{69}{subsection.7.2.3}% 
\contentsline {subsection}{\numberline {7.2.4}Utilizaci\'on de sensores simulados}{69}{subsection.7.2.4}% 
\contentsline {subsection}{\numberline {7.2.5}Optimizaci\'on del c\'odigo}{70}{subsection.7.2.5}% 
\contentsline {subsection}{\numberline {7.2.6}HMI con visualizaci\'on de estados}{70}{subsection.7.2.6}% 
\contentsline {part}{I\hspace {1em}An\'exos}{71}{part.1}% 
\contentsline {chapter}{\numberline {A}ROS}{72}{appendix.Alph1}% 
\contentsline {section}{\numberline {A.1}Introducci\'on a ROS}{72}{section.Alph1.1}% 
\contentsline {section}{\numberline {A.2}Conceptos b\'asicos}{73}{section.Alph1.2}% 
\contentsline {section}{\numberline {A.3}Componentes Principales}{75}{section.Alph1.3}% 
\contentsline {subsection}{\numberline {A.3.1}Infraestructura de comunicaciones}{75}{subsection.Alph1.3.1}% 
\contentsline {subsection}{\numberline {A.3.2}Caracter\IeC {\'\i }sticas Rob\'oticas espec\IeC {\'\i }ficas}{75}{subsection.Alph1.3.2}% 
\contentsline {subsubsection}{\numberline {A.3.2.1}Mensajes est\'andar de robot}{75}{subsubsection.Alph1.3.2.1}% 
\contentsline {subsubsection}{\numberline {A.3.2.2}Librer\IeC {\'\i }a geom\'etrica de robot}{75}{subsubsection.Alph1.3.2.2}% 
\contentsline {subsubsection}{\numberline {A.3.2.3}Unidades Utilizadas}{76}{subsubsection.Alph1.3.2.3}% 
\contentsline {subsubsection}{\numberline {A.3.2.4}Estructura del Robot}{76}{subsubsection.Alph1.3.2.4}% 
\contentsline {subsubsection}{\numberline {A.3.2.5}Diagn\'osticos}{77}{subsubsection.Alph1.3.2.5}% 
\contentsline {subsection}{\numberline {A.3.3}Herramientas}{78}{subsection.Alph1.3.3}% 
\contentsline {subsubsection}{\numberline {A.3.3.1}Rosnode}{78}{subsubsection.Alph1.3.3.1}% 
\contentsline {subsubsection}{\numberline {A.3.3.2}Rostopic}{78}{subsubsection.Alph1.3.3.2}% 
\contentsline {subsubsection}{\numberline {A.3.3.3}Rosservice}{79}{subsubsection.Alph1.3.3.3}% 
\contentsline {subsubsection}{\numberline {A.3.3.4}Rosparam}{79}{subsubsection.Alph1.3.3.4}% 
\contentsline {subsubsection}{\numberline {A.3.3.5}Package}{79}{subsubsection.Alph1.3.3.5}% 
\contentsline {subsubsection}{\numberline {A.3.3.6}Rosbash}{80}{subsubsection.Alph1.3.3.6}% 
\contentsline {subsection}{\numberline {A.3.4}Integraci\'on con librer\IeC {\'\i }as}{80}{subsection.Alph1.3.4}% 
\contentsline {chapter}{\numberline {B}Gazebo}{81}{appendix.Alph2}% 
\contentsline {section}{\numberline {B.1}Introducci\'on a Gazebo}{81}{section.Alph2.1}% 
\contentsline {section}{\numberline {B.2}Componentes Principales}{81}{section.Alph2.2}% 
\contentsline {section}{\numberline {B.3}Ejecuci\'on}{81}{section.Alph2.3}% 
\contentsline {section}{\numberline {B.4}Utilidades}{82}{section.Alph2.4}% 
\contentsline {subsection}{\numberline {B.4.1}Control de c\'amara}{82}{subsection.Alph2.4.1}% 
\contentsline {subsection}{\numberline {B.4.2}Dise\~no de Mundos}{83}{subsection.Alph2.4.2}% 
\contentsline {subsection}{\numberline {B.4.3}Visualizaci\'on de Sensores}{83}{subsection.Alph2.4.3}% 
\contentsline {subsection}{\numberline {B.4.4}Importaci\'on de modelos 3D al mundo}{84}{subsection.Alph2.4.4}% 
\contentsline {subsection}{\numberline {B.4.5}Comandos \'Utiles}{85}{subsection.Alph2.4.5}% 
\contentsline {subsubsection}{\numberline {B.4.5.1}Movimiento de un robot}{85}{subsubsection.Alph2.4.5.1}% 
\contentsline {part}{Bibliograf\IeC {\'\i }a}{87}{appendix*.45}% 
\contentsline {chapter}{Lista de acr\'onimos}{89}{section*.46}% 
