Partitioning algorithms for multi-agent systems based on finite-time proximity metrics
Partitioning algorithms for multi-agent systems based on finite-time proximity metrics
复制标题
基于有限时间邻近度量的多智能体系统分区算法
DOI：
10.1016/j.automatica.2015.03.011
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
E. Bakolas
中科院分区：
文献类型：
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作者：
E. Bakolas
我们解决了一个广义Voronoi分割问题的一个团队的移动的代理与非线性动力学的状态相关的邻近度量。特别是，接近度（伪）度量对应于在有限时间内将代理转移到具有零终端速度的任意目的地期间发生的广义能量度量的减少。每一个有限时间的状态转换的实现发生的一类连续反馈控制律，使每个移动的代理非Lipschitzian的闭环动态。到达时间也是一个状态相关的量，其功能的描述是没有规定的先验。我们表明，在这项工作中研究的分区问题可以承认一个分散的解决方案，也就是说，每个代理可以计算自己的细胞独立于它的队友提供的是知道的位置和速度，其相邻的代理。数值模拟，说明了理论的发展。
We address a generalized Voronoi partitioning problem for a team of mobile agents with nonlinear dynamics with respect to a state-dependent proximity metric. In particular, the proximity (pseudo-) metric corresponds to the reduction of a generalized energy metric that occurs during the transfer of an agent to an arbitrary destination with zero terminal velocity, in finite time. The realization of every finite-time state transition takes place by means of a class of continuous feedback control laws that render the closed loop dynamics of each mobile agent non-Lipschitzian. The arrival time also turns out to be a state-dependent quantity, whose functional description is not prescribed a priori. We show that the partitioning problem studied in this work can admit a decentralized solution, that is, each agent can compute its own cell independently from its teammates provided that is aware of the positions and velocities of its neighboring agents. Numerical simulations that illustrate the theoretical developments are also presented.