使用层次协调的多代理系统的分布式广播控制
Mahmudul Hasan1, Mohammad Khalid Saifullah1, Md Abdus Samad Kamal1
1Division of Mechanical Science and Technology, Graduate School of Science and Technology, Gunma University, Kiryu 376-8515, Japan.
Biomimetics (Basel, Switzerland)
|July 26, 2024
概括
本研究介绍了一种分层广播控制 (BC) 模型,用于大型代理群的多个协调员. 新模式提高了效率,将旅行成本降低了30%,并比传统的BC方法更快地实现了趋同.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 群集情报 群集情报 群集情报
背景情况:
- 广播控制 (BC) 是一种生物灵感的协调技术,用于代理群.
- 一个单一的协调员广播信号使代理人能够在没有直接沟通的情况下朝着集体最佳状态前进.
- 将BC扩展到具有更多代理的更大系统,可以增加由于单个协调员的局限性而导致的融合时间.
研究的目的:
- 提出一个更新的广播控制模型,使用分布式多个协调员来有效控制更大的多代理系统.
- 为了提高BC的性能和实用性,用于复杂的任务,如覆盖控制.
- 解决传统的单一协调 BC 模型的趋同时间和效率挑战.
主要方法:
- 开发了一个分层的BC计划,结合分布式子协调员.
- 副协调员将从全球协调员收到的反信号广播给任务完成的代理人.
- 在随机优化机制中的梯度估计的加权平均值被用于管理子协调员的双重角色.
主要成果:
- 覆盖范围控制任务的数值模拟证明了拟议模型的有效性.
- 层次的BC方案实现了与典型的BC方案相似的趋同.
- 与典型的BC相比,拟议方案显示出大约30%的旅行成本降低,并且在约三分之一的代步骤中达到接近融合的水平.
结论:
- 更新后的分布式协调器的层次 BC 模型为大型多代理系统提供了显著的效率和融合速度的改进.
- 这种方法提高了BC的可行性,用于复杂的协调任务.
- 这些发现突显了分布式控制架构在群体机器人和相关领域的潜力.
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