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Guiding a Group of Locally Interacting Autonomous Mobile Agents

Guiding a Group of Locally Interacting Autonomous Mobile Age...

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第二十四届中国控制会议

作者： Jing Han~1, Lei Guo~1, Ming Li~2 (1. Institute of Systems Science, AMSS, CAS, Beijing 100080) (2. Institute of Theoretical Physics, CAS, Beijing 100080)

＜正＞ Consider a simple but typical distributed system of n autonomous agents. Each agent moves with the same speed but with different headings which are updated by using a local rule based on the average of its own heading plus the headings of its neighbors. This model captures the major features of flocking behavior of birds. In this paper, we are trying to control the headings of a group of agents but do not （1） use centralized methods;（2） change the local rule of the existing agents in the system. A case study is to coordinate the headings of agents by adding one Shill agent. It is a natural way to intervene in the collective behavior of distributed systems, but different from the approach of distributed control. It may bring out many interesting issues and challenges on the control of complex systems.

关键词： Complex Systems Collective behavior boid model Shill Agent

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Multi-Agent Systems with Local Rules:Towards a Theory of Analysis and Control

Multi-Agent Systems with Local Rules:Towards a Theory of Ana...

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第25届中国控制会议

作者： Lei Guo with Zhi-Xin Liu and Jing Han Academy of Mathematics and Systems Science Chinese Academy of Sciences, Beijing 100080China

Multi-agent systems enjoy some basic characteristics of complex systems, which arise from diverse fields in natural and artificial systems, such as flocking of birds, schools of fish, traffic systems and robots formation. A basic problem is to understand how locally interacting rules lead to collective behaviors (e. g. , synchronization) of the overall system. The so-called Vicsek’s model is a simple, typical, and well-known model in describing and comprehending the collective behaviors of a wide class of multi-agent systems. It captures some basic features of complex multi-agent systems, such as local rules, dynamic behaviors, and changing neighborhood. The model looks very simple, but the analysis is quite complicated, because there are nonlinear interactions among the agents of this model. In fact, most of the existing results on synchronization need to impose a certain connectivity condition on the global behaviors of the agents’ trajectories, which are quite hard to verify in general. The main purpose of this talk is: (1) to present some recent progress in the analysis of the Vicsek’s model. First, we will show that each agent’s heading has a limit in any cases;then, replace the previously used connectivity conditions by some easily verifiable ones, imposed only on the agents’ initial conditions and the parameters of the model in both deterministic and stochastic frameworks;after that we will also consider both simplifications and generalizations of the Vicsek’s model. (2) to discuss some control problems based on both Vicsek’s model and boid model, where both soft control and distributed control will be investigated.

关键词： Multi-agent systems Vicsek’s model boid model connectivity synchronization soft control distributed control algebraic graph theory.

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