## 2 Related Work
In [27] they present a model of the respiratory signal resulting from an ultra-wideband radar, which allows the detection of this signal through obstacles. In [28] they perform mathematical methods to separate the signals given by the ultra-wideband radar, allowing the identification of a person's vital signs. In [29] they present an app which uses the mobile phones of the rescue teams, allowing to record the sounds and estimate the victim's location through the use of a central processing system. Some of the applications of robotic swarms and cooperative robotics in search and rescue are presented in [30]. Some of the mentioned applications stand out; the creation of communication networks as in [31] where a swarm of drones equipped with WIFI and GPS modules is used to create a network, allowing the rescue team to coordinate the search of survivors in case the local communication system is out of service. Another application is the recognition of fire zones without compromising the integrity of firefighters. An example of terrain recognition is exposed in [32] where a 3-dimensional map is created by exchanging information between the platforms that perform the exploration of the environment. In consequence of the nature of disasters, it is difficult to test robotics platforms that provide support to search and rescue tasks. In [33] they use V-REP for the creation of simulation environments, in addition to this, sensors and actuators can be integrated into predefined or user-created platforms. In [7] present an analysis of programs that allow the simulation of multi-robot systems for the development of bio-inspired algorithms. After carrying out the tests in simulation programs, it is necessary to test the prototypes in an environment with characteristics similar to those found in a disaster. In [34], the Department of National Security and the National Institute of Standards and Technology are coordinated to design three tests that will allow the evaluation of requirements identified by rescuers. In [35] they give standards for the elaboration of a scale scenario and thus be able to analyze the performance of the platforms using sensors and performance matrices. In [36] they develop a test scenario that emulates a disaster zone in which they carry out performance tests of a navigation algorithm in multi-robot systems. As shown previously, Assistance in disaster areas is a fairly large and necessary field of research. The robots for search and rescue of victims have emerged as a part of the solution to several challenges that must be solved. When we look at the large number of researches that have been done on the subject, it seems that everything is done. However, our approach shows that are still details that can be improved such as, other works use the concept of swarm navigation but almost all of them focuses on the connectivity maintenance. In this work we allow the system to disconnect agents from the swarm depending on possible victim detection. In this way, once a possible victim is detected, a group of robots disconnects from the main swarm that keeps navigating. This sub-swarm determines if there is or not a victim based on a consensus algorithm. Additionally, other authors consider the detection of a victim based only on the performance of a sophisticated type of sensor. In this work, after applying a formation control to sub-swarm, we proposed a classification between victim or false positive based on consensus approach over a modeled sensor network using minimum least squares theory. Finally, as a method to test the proposed swarm navigation system, an environment with obstacles, victims and aerial robotics were simulated using V-Rep [33]. This is virtual robotics environment tool that allows to proximate to the real implementation approach.