有领航者的多智能体系统的稳定性分析
Stability analysis of multi-agent system with leaders

本文研究了一类有领航者的多智能体系统在平面和高斯型源下的稳定性分析. 该系统由领航者和跟随者 两种智能体组成, 只有领航者具有环境的信息; 同时, 吸引与排斥函数也被推广到具有某些性质的一类函数. 证明 了在满足适当假设条件时, 在领航者智能体的导航作用下, 多智能体系统的跟随者在没有环境信息的情况下也能准 确地到达目标或远离目标. 当多智能体系统在不同源的条件下聚集时有界区域的大小也被估计. 给出数值仿真以证 明理论结果的正确性.
This paper investigates the stability of a class of multi-agent systems with leaders under plane and Gaussian profiles. The system consists of leaders and followers, but only the leaders have the knowledge about the environment; meanwhile, the specific attraction and repulsion function are extended to a class of functions with some properties. It is shown that under certain assumptions the follower agents can accurately reach the target or get away from the target in the absence of environmental information, only by the navigation of leader agents. The size of the bounded area in which the multi-agent system aggregates under different profiles is estimated. Numerical simulations are given to demonstrate the validation of the analytical results.