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多智能体最优持久编队动态生成与控制

DOI: 10.3724/SP.J.1004.2013.01431, PP. 1431-1438

Keywords: 多智能体,编队,最优持久编队,分布式控制

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Abstract:

?研究了多智能体系统中最优持久编队生成算法,并根据对应的通信拓扑设计了最优持久编队的运动控制算法.首先,提出了基础圈概念,通过有向增加顶点操作,研究了基础圈为三角形或包含部分四边形的最优持久编队的分布式生成算法;在此基础上,考虑到持久编队中单向通信邻居的状态信息,设计了基于距离的最优持久编队运动控制算法.最后,仿真研究验证了所提算法的有效性.

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