Broadcast control of multi-agent systems
Broadcast control of multi-agent systems
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DOI：
10.1016/j.automatica.2013.04.022
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
S. Azuma;Ryota Yoshimura;T. Sugie
中科院分区：
文献类型：
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作者：
S. Azuma;Ryota Yoshimura;T. Sugie
提出了一种多智能体协调的广播控制框架。这里的“广播控制”指的是在不存在代理到代理通信的假设下，通过不分青红皂白地向所有代理发送相同的信号来管理多代理系统。这里考虑的问题是设计要广播的信息和智能体的局部动作，以实现给定的运动协调任务。为了解决这个问题，首先说明了为了实现广播控制，局部动作必须包括随机性。在此基础上，我们提出了一种广播控制方法，其中广播任务的完成程度，由代理交替执行随机行走和确定行走。证明了该方法能够以概率为1的概率渐近完成任务，并通过数值模拟和实验验证了该方法的性能。
This paper presents a broadcast control framework for multi-agent coordination. Here, the “broadcast control” means governing multi-agent systems by sending the same signal to the all agents indiscriminatingly, under the assumption that there is no agent-to-agent communication. The problem considered here is to design the information to be broadcasted and the local actions of the agents, to achieve a given motion-coordination task. For solving this, it is first shown that the local actions have to include randomness for realizing the broadcast control. Based on this, we propose a broadcast control method, where the achievement degree of the task is broadcasted and the agents alternately perform random walk and deterministic walk. The proposed method is proven to asymptotically achieve the task with probability 1. The performance is demonstrated by numerical simulation and experiment.