多智能体系统最优持久编队自动生成

在最优刚性编队基础上,本文研究了多智能体系统的最优持久编队自动生成算法,所得算法能最大限度地减少维持编队结构稳定所需的信息交互量.首先,对于任意的最小刚性图.提出了缩减其范围的两种刚性逆操作;然后,设计了将包含于此两种操作中的无向边增加方向的规则,以使对应顶点的出度不大于2;并且在此基础上得到了任意最小持久图的生成算法,保证了最优持久编队的生成.最后,进行仿真研究,验证了提出算法的有效性.

Automatic generation of optimal persistent formation for multi-agent systems

Based on the optimal rigid formation, an algorithm for automatic generation of optimal persistent formation for multi-agent systems is presented. The amount of information interaction for maintaining the stabilization of the formation configurations can be maximally decreased by using the algorithm. First, for any minimal rigid graph, two rigid reverse operations are presented to curtail them; then, the rules for adding directions for undirected edges contained in the two operations are designed to make the protrusion degrees of the corresponding vertices less than 2. Based on the rules, the algorithm of generating any minimal persistent graph is obtained, and the generation of optimal persistent formation is guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed algorithm.