Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2017-01-04T13:19:42Z No. of bitstreams: 1 RosieryDaSilvaMaia_TESE.pdf: 4606593 bytes, checksum: bd4ae91dffeac90bf5c077bfca0d1069 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2017-01-05T19:24:44Z (GMT) No. of bitstreams: 1 RosieryDaSilvaMaia_TESE.pdf: 4606593 bytes, checksum: bd4ae91dffeac90bf5c077bfca0d1069 (MD5) / Made available in DSpace on 2017-01-05T19:24:44Z (GMT). No. of bitstreams: 1 RosieryDaSilvaMaia_TESE.pdf: 4606593 bytes, checksum: bd4ae91dffeac90bf5c077bfca0d1069 (MD5) Previous issue date: 2012-12-18 / IDeM-MRS ? um modelo com regras formais para gerenciar a coopera??o de um grupo de rob?s, quando aplicados em resolu??o de tarefas. Esse formalismo ? totalmente baseado em modelos sociais de aprendizagem de indiv?duos reais e coordena eficientemente o sistema multirrob?, propiciando a Assimila??o e Acomoda??o do conhecimento atrav?s de trocas de experi?ncias entre os componentes do grupo. Algumas quest?es foram particulamente tratadas, como uma representa??o realista do ambiente multirrob? (que envolve a miss?o global, as tarefas que pertencem a essa miss?o e os rob?s atuantes) e uma forma de sele??o de tarefas, baseada em teorias de abordagens socias de aprendizagem, como as pregadas por Lev Vygotsky, Jean Piaget e John Watson. Essas teorias, j? consolidadas para indiv?duos reais, permitem a execu??o cooperativa eficiente pelos rob?s. IDeM-MRS pode ser usado em diferentes tipos de miss?es, desde as mais simples ?s mais complexas. Os experimentos e resultados validam a efici?ncia dessa proposta em compara??o a um modelo emp?rico tradicional. / IDeM-MRS is a model with formal rules to manage the cooperation of multi-robot systems, if it is applied in tasks execution. This formalism is completely based on learning social models of real individuals and efficiently coordinates the group allowing knowledge assimilation and accommodation through experiences exchange among the group components. Some issues are particularly investigated, such as the realist multirobot environment representation (involving the global mission, the tasks that belong to this mission and the active robots) and a task selection form based on theories and social learning approaches, such as theories of Lev Vygotsky, Jean Piaget and John Watson. Its theories already consolidated to real individuos, allows the cooperative execution efficient by robots. IDeM-MRS can be used for different types of missions, from the simplest to more complex ones. The experiments and results validate the effectiveness of this formalism compared to the traditional empirical model.