论文标题
元导航功能：多代理系统协调的自适应关联
Meta Navigation Functions: Adaptive Associations for Coordination of Multi-Agent Systems
论文作者
论文摘要
在本文中，我们介绍了一个新的潜在字段，即元导航功能（MNF）来协调多代理系统。得益于MNF的配方，与传统的分散导航功能（DNF）相反，代理可以通过部分和/或完全关联来促进彼此的协调。特别是，代理可以通过其MNF互相刺激。此外，与DNF的Morse状况相比，需要限制MNF的条件较弱。 MNF由限制函数和吸引力内核组成。前者的临界点可以限制在目标临界点周围的安全区域。在达到其安全区域之前，代理的无碰撞轨迹及其与同龄人的关联受到密闭功能的控制。然后，景点内核将代理驱动到安全区域中的目标。与DNF相比，MNF提供更快的协调。我们说明了MNF如何在代理商之间的部分和完全关联的过程中表现出一些社会行为。我们的模拟验证了MNF协调代理复杂群的效率。
In this paper, we introduce a new class of potential fields, i.e., meta navigation functions (MNFs) to coordinate multi-agent systems. Thanks to the MNF formulation, agents can contribute to each other's coordination via partial and/or total associations, contrary to traditional decentralized navigation functions (DNFs). In particular, agents may stimulate each other via their MNFs. Moreover, MNFs need to be confined which is a weaker condition compared to the Morse condition of DNFs. An MNF is composed of a confined function and an attraction kernel. The critical points of the former can be confined in a safe region around a target critical point. The collision-free trajectory of an agent and its associations to its peers are governed by a confined function before reaching its safe region. Then, the attraction kernel drives the agent to its target in the safe region. MNFs provide faster coordination compared to DNFs. We illustrate how MNFs may exhibit some social behaviors in the course of partial and total associations among agents. Our simulations verify the efficiency of MNFs to coordinate complex swarms of agents.
