Index-Free Multi-agent Systems: An Eulerian Approach
Index-Free Multi-agent Systems: An Eulerian Approach
复制标题
无索引多智能体系统：欧拉方法
DOI：
10.3182/20100913-2-fr-4014.00064
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
M. Egerstedt
中科院分区：
文献类型：
--
作者：
P. Kingston;M. Egerstedt
摘要由于包含许多同质代理的系统的属性可能被期望独立于代理如何被索引，因此应该可以以无索引的方式来制定和解决多代理控制问题。在本文中，我们提供了这样一种方法，基于一个指标分布表示，这导致在积分微分动力学的平行和扩展，在传统的索引配方。保守性和稳定性的证明;一个兼容的几何结构构造的索引表示;和一个离散的模拟，这表明，对于某些问题的欧拉观点的结果在非常简单的控制器。
Abstract Since the properties of systems comprising many homogeneous agents may be expected to be independent of how the agents happen to be indexed, it should be possible to formulate and solve multi-agent control problems in an index-free way. In this paper we provide such an approach, based on an indicator distribution representation, which results in integro-differential dynamics that parallel and extend those obtained within the traditional indexed formulations. Conservation and stability properties are proven; a compatible geometric structure is constructed for the indexed representation; and a discrete analogue is presented which illustrates that for certain problems the Eulerian viewpoint results in very simple controllers.