论文标题
在随着时变的通信网络下的无人机群体控制的图形游戏
Graphical Games for UAV Swarm Control Under Time-Varying Communication Networks
论文作者
论文摘要
我们提出了一个统一的框架，用于协调在随着时间变化的通信网络下运行的无人机（UAV）群。我们的框架建立在图形游戏的概念上，我们认为这提供了一个引人注目的范式，可借助共享的本地邻里属性，在网络无人机群中发现的相互作用结构。我们根据当地的总州为合作的无人机群体提供了一般的，可因素的回报功能，并为舞台游戏产生NASH均衡。此外，我们提出了一种基于分解的方法，通过近似虚拟的卑鄙邻里，以可扩展和分散的方式求解舞台图游戏。最后，我们通过利用深度Q学习和模型预测性控制来讨论将拟议的框架扩展到通用和随机游戏。
We propose a unified framework for coordinating Unmanned Aerial Vehicle (UAV) swarms operating under time-varying communication networks. Our framework builds on the concept of graphical games, which we argue provides a compelling paradigm to subsume the interaction structures found in networked UAV swarms thanks to the shared local neighborhood properties. We present a general-sum, factorizable payoff function for cooperative UAV swarms based on the aggregated local states and yield a Nash equilibrium for the stage games. Further, we propose a decomposition-based approach to solve stage-graphical games in a scalable and decentralized fashion by approximating virtual, mean neighborhoods. Finally, we discuss extending the proposed framework toward general-sum stochastic games by leveraging deep Q-learning and model-predictive control.
