基于异质网络的蜂拥控制研究
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摘要
提出了异质影响半径的概念,对Olfati的人工势函数进行改造,使其能够应用于异质网络。研究了智能体的影响半径不同时对蜂拥控制网络的影响。研究结果表明:当智能体影响半径服从幂律分布时,随着幂律指数的减小,网络的异质性增强,也更容易达到蜂拥状态;当网络的异质性很强时,只需要通过控制极少数感知半径大的智能体,就可以很好地控制整个多智能体系统。
This paper studied the influence of the intelligent body on the swarm control network at the same time. It is shown in this paper that,when the radius of the agent obeys the power-law distribution,as the scale parameters decrease,the heterogeneity of the network increases,and the swarm system is more likely to reach the stable state. In addition,when the heterogeneity of the network is very strong,only a few agents with large perceived radius are needed to control the whole multi-agent system.
This paper studied the influence of the intelligent body on the swarm control network at the same time. It is shown in this paper that,when the radius of the agent obeys the power-law distribution,as the scale parameters decrease,the heterogeneity of the network increases,and the swarm system is more likely to reach the stable state. In addition,when the heterogeneity of the network is very strong,only a few agents with large perceived radius are needed to control the whole multi-agent system.
引文
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[12]闻国光.异质多智能体系统在固定拓扑下的分组一致性[J].北京交通大学学报,2016,40(3):116-118.
[13]廖诗来.一类多时变时延异质多智能体系统的组一致性[J].信息与控制,2016,45(5):569-571.
[2]程代展,陈翰馥.从群集到社会行为控制[J].科技导报,2004(8):4-6.
[3]OKUBO A.Dynamical aspects of animal grouping:swarms,schools,flocks and herds[J].Advance Biophysics,1986,22:1-94.
[4]HELBING D,FARKAS I,VICSEK T.Simulating dynamical features of escape panic[J].Nature,2000,407:487-490.
[5]VICSEK T.A question of scale[J].Nature,2001,411:421-421.
[6]LOW D J.Following the crowd[J].Nature,2000,407:465-466.
[7]GRUNBAUM D,OKUBO A.Modeling social animal aggregations[J].Frontiers in Theoretical Biology,1994,100:296-325.
[8]REYNOLDS C W.Flocks,herds and schools:A distributed behavioral model[J].ACM Siggraph Computer Graphics,1987:48-55.
[9]OLFATI-SABER R.Flocking for Multi-Agent Dynamic Systems:Algorithms and Theory[J].Automatic Control IEEETransactions on,2006,51(3):401-420.
[10]VICSEK T.Novel Type of Phase Transition in a Syetem of Self-Driven Particles[J].Physical Review Letters,1995,75(6):1226-1229.
[11]焦强.同质与异质线性多智能体系统的分布式跟踪控制[D].南京.南京理工大学.2017:29-35.
[12]闻国光.异质多智能体系统在固定拓扑下的分组一致性[J].北京交通大学学报,2016,40(3):116-118.
[13]廖诗来.一类多时变时延异质多智能体系统的组一致性[J].信息与控制,2016,45(5):569-571.