| 摘要: |
| We consider the generalized flocking problem in multiagent systems, where the agents must drive a subset of their state variables to common values, while communication is constrained by a proximity relationship in terms of another subset of variables. We build a flocking method for general nonlinear agent dynamics, by using at each agent a near-optimal control technique from artificial intelligence called optimistic planning. By defining the rewards to be optimized in a well-chosen way, the preservation of the interconnection topology is guaranteed, under a controllability assumption. We also give a practical variant of the algorithm that does not require to know the details of this assumption, and show that it works well in experiments on nonlinear agents. |
| 关键词: Multiagent systems Flocking Optimistic planning Topology preservation |
| DOI： |
| Received:July 22, 2014Revised:January 20, 2015 |
| 基金项目: |
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| Topology-preserving flocking of nonlinear agents using optimistic planning |
| L. Busoniu,I. C. Morarescu |
| (Department of Automation, Technical University of Cluj-Napoca;Universit′e de Lorraine, CRAN, UMR 7039 and CNRS, CRAN, UMR 7039, 2 Avenue de la Fore?t de Haye) |
| Abstract: |
| We consider the generalized flocking problem in multiagent systems, where the agents must drive a subset of their state variables to common values, while communication is constrained by a proximity relationship in terms of another subset of variables. We build a flocking method for general nonlinear agent dynamics, by using at each agent a near-optimal control technique from artificial intelligence called optimistic planning. By defining the rewards to be optimized in a well-chosen way, the preservation of the interconnection topology is guaranteed, under a controllability assumption. We also give a practical variant of the algorithm that does not require to know the details of this assumption, and show that it works well in experiments on nonlinear agents. |
| Key words: Multiagent systems Flocking Optimistic planning Topology preservation |
