整体强化基于学习的动态事件触发的USVs的非零和游戏
IEEE transactions on cybernetics
|March 3, 2025
概括
本研究介绍了在动态事件触发游戏中用于无人地面车辆 (USV) 的综合强化学习方法,在约束条件下实现纳什平衡. 该方法通过使用事件触发控制和神经网络来节约资源.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 游戏理论 游戏理论
- 人工智能的人工智能
背景情况:
- 无人驾驶地面车辆 (USV) 需要强大的控制策略来导航和执行任务.
- 在非零和 (NZS) 游戏中实现纳什平衡对于多代理协调至关重要.
- 国家和输入约束在USV控制系统中构成重大挑战.
研究的目的:
- 为动态事件触发的NZS游戏开发一个综合强化学习 (IRL) 方法.
- 使USV能够在遵守状态和输入约束的同时实现纳什平衡.
- 通过事件触发控制来提高计算效率和降低网络负载.
主要方法:
- 设计了一个映射功能,以确保USV状态和控制保持在安全的操作环境中.
- 基于IRL的合汉密尔顿 - 雅各比方程得出,绕过了对显式系统动态的需求.
- 开发了一个动态事件触发的控制机制,改进了静态方法.
- 关键神经网络被用来接近每个代理的价值函数和控制策略.
主要成果:
- 拟议的IRL方法成功地实现了在约束条件下USVs的纳什平衡.
- 动态事件触发方法节省了计算资源和网络带宽.
- 严格的证明证实了系统状态和重量估计错误的统一的最终边界性.
- 模拟实验验证了开发的控制策略的有效性.
结论:
- 综合强化学习方法为USV系统中受约束的NZS游戏提供了有效的解决方案.
- 事件触发控制在合作USV操作中显著优化资源利用.
- 该方法通过模拟证明了强大的理论保证和实际适用性.
相关概念视频
02:20Dynamic Equilibrium
49.9K
A reversible chemical reaction represents a chemical process that proceeds in both forward (left to right) and reverse (right to left) directions. When the rates of the forward and reverse reactions are equal, the concentrations of the reactant and product species remain constant over time and the system is at equilibrium. A special double arrow is used to emphasize the reversible nature of the reaction. The relative concentrations of reactants and products in equilibrium systems vary greatly;...
49.9K
01:22Multi-input and Multi-variable systems
93
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
93
01:16Statically Indeterminate Problem Solving
355
Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
355
01:06Collisions in Multiple Dimensions: Problem Solving
3.5K
In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
3.5K
01:15Elastic Collisions: Case Study
13.3K
Elastic collision of a system demands conservation of both momentum and kinetic energy. To solve problems involving one-dimensional elastic collisions between two objects, the equations for conservation of momentum and conservation of internal kinetic energy can be used. For the two objects, the sum of momentum before the collision equals the total momentum after the collision. An elastic collision conserves internal kinetic energy, and so the sum of kinetic energies before the collision equals...
13.3K
01:16Hydraulic Jump: Problem Solving
42
To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...
42