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In this project we implement a Multi-Agent System to simulate the exploration of an Unknown Space scenario. Such exploration has as its objective the discovery of a destination point.

Therefore, in our system there are the following types of Agents:

• Agent - exploits the space, searching for the destination point, and communicates with other agents (provided within certain limits), in order to request help in removing obstacles or share and agree on the best approach to be applied at a certain point in the exploration;
• Super Agent - agent, without any restriction in communication with other super agents.

The agents are initially all concentrated on the same spot on the map. In order to facilitate exploration, all agents can explore the space and send their location to their peers.

In this same map there are obstacles that the agents can move being, for that, 2 agents are needed together. To do this, through a communication system, agents can request help from another agent. Through this same system of communication, the agents can also communicate some discovery that they have made. The choice of the agent that will aid the person who requested help to remove the obstacle follows a negotiation protocol, which will take into account the distance between the two.

When an agent has found the target point, it must transmit this information to its peers, giving them their coordinates. When a super agent has the information of the destination point, it will be responsible for communicating to the other super agents the coordinates of the destination, since there is no restriction of communication between them. Super agents will then be responsible for ensuring that all agents know the position of the target point. In this way, it is ensured that the information of the discovery of the destination point reaches all agents and cooperation is used among them in order to achieve the final goal.

As mentioned earlier, our system will have 2 classes of agents:

• Soldiers
• Captains

There are 4 phases that stand out during the simulation:

1. Partition of space between Captains;
2. Division of space between Soldiers;
3. Request of a Soldier to assist in the removal of an obstacle;
4. Communicate the goal point between the agents.