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Updated: Sep 10, 2025

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
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Control de evitación de obstáculos para sistemas multiagente basados en un control adaptativo sin modelo

Libang Yin, Liwei An, Yue Hong

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    Resumen
    Este resumen es generado por máquina.

    Este estudio presenta un nuevo enfoque basado en datos para el control de múltiples agentes, mejorando la prevención de colisiones y la navegación en obstáculos. El método garantiza la planificación segura de la trayectoria y la desaceleración adaptativa para un control robusto de la formación de agentes.

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    Área de la Ciencia:

    • La robótica
    • Ingeniería de sistemas de control
    • Inteligencia artificial

    Sus antecedentes:

    • Los sistemas multiagente se enfrentan a desafíos en la evitación de colisiones y obstáculos, especialmente en escenarios de control no lineales.
    • Los métodos existentes a menudo requieren modelos complejos o control centralizado, lo que limita la escalabilidad y la adaptabilidad.
    • Los enfoques basados en datos ofrecen el potencial para soluciones más flexibles y robustas en entornos dinámicos.

    Objetivo del estudio:

    • Desarrollar una estrategia de control de salida cooperativa basada en datos para evitar colisiones y obstáculos en sistemas multiagente no lineales.
    • Diseñar un método de planificación de trayectoria de referencia seguro que permita a los agentes eludir dinámicamente los obstáculos.
    • Crear un controlador de seguimiento distribuido que utilice solo información de entrada y salida para la prevención de colisiones adaptativa.

    Principales métodos:

    • Un método de planificación de trayectoria de referencia segura proyecta dinámicamente segmentos de trayectoria inseguros para eludir obstáculos.
    • Un controlador de seguimiento distribuido con dos funciones de barrera dinámica está diseñado utilizando datos de entrada-salida.
    • Se derivan las condiciones suficientes para garantizar la evitación exitosa de obstáculos y la navegación segura.

    Principales resultados:

    • La estrategia propuesta permite a las formaciones de agentes evitar eficazmente los obstáculos estacionarios y móviles.
    • El método evita las colisiones entre agentes individuales dentro de la formación.
    • Los agentes siguen con éxito las trayectorias deseadas manteniendo la integridad de la formación.

    Conclusiones:

    • El enfoque cooperativo basado en datos proporciona una solución eficaz para evitar colisiones y obstáculos en el control no lineal multiagente.
    • La planificación de la trayectoria y los métodos de control adaptativos propuestos garantizan una navegación segura y eficiente.
    • Los resultados de la simulación validan la solidez y el rendimiento de la estrategia en escenarios complejos.