Cooperative behaviors in multi-robot systems emerge as an excellent alternative for collaboration in search and rescue tasks to accelerate the finding survivors process and avoid risking additional lives. Although there are still several challenges to be solved, such as communication between agents, power autonomy, navigation strategies, and detection and classification of survivors, among others. The research work presented by this paper focuses on the navigation of the robot swarm and the consensus of the agents applied to the victims detection. The navigation strategy is based on the application of particle swarm theory, where the robots are the agents of the swarm. The attraction and repulsion forces that are typical in swarm particle systems are used by the multi-robot system to avoid obstacles, keep group compact and navigate to a target location. The victims are detected by each agent separately, however, once the agents agree on the existence of a possible victim, these agents separate from the general swarm by creating a sub-swarm. The sub-swarm agents use a modified rendezvous consensus algorithm to perform a formation control around the possible victims and then carry out a consensus of the information acquired by the sensors with the aim to determine the victim existence. Several experiments were conducted to test navigation, obstacle avoidance, and search for victims. Additionally, different situations were simulated with the consensus algorithm. The results show how swarm theory allows the multi-robot system navigates avoiding obstacles, finding possible victims, and settling down their possible use in search and rescue operations.

Lima bean, Phaseolus lunatus, is a crop legume that produces the cyanogenic glucosides linamarin and lotaustralin. In the legumes Lotus japonicus and Trifolium repens, the biosynthesis of these two α‐hydroxynitrile glucosides involves cytochrome P450 enzymes of the CYP79 and CYP736 families and a UDP‐glucosyltransferase. Here, we identify CYP79D71 as the first enzyme of the pathway in P. lunatus, producing oximes from valine and isoleucine. A second CYP79 family member, CYP79D72, was shown to catalyze the formation of leucine‐derived oximes, which act as volatile defense compounds in Phaseolus spp. The organization of the biosynthetic genes for cyanogenic glucosides in a gene cluster aided their identification in L. japonicus. In the available genome sequence of P. vulgaris, the gene orthologous to CYP79D71 is adjacent to a member of the CYP83 family. Although P. vulgaris is not cyanogenic, it does produce oximes as volatile defense compounds. We cloned the genes encoding two CYP83s (CYP83E46 and CYP83E47) and a UDP‐glucosyltransferase (UGT85K31) from P. lunatus, and these genes combined form a complete biosynthetic pathway for linamarin and lotaustralin in Lima bean. Within the genus Phaseolus, the occurrence of linamarin and lotaustralin as functional chemical defense compounds appears restricted to species belonging to the closely related Polystachios and Lunatus groups. A preexisting ability to produce volatile oximes and nitriles likely facilitated evolution of cyanogenesis within the Phaseolus genus.

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