文章基本信息

标题：Global extremum seeking by Kriging with a multi-agent system
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作者：Arthur Kahn ; Julien Marzat ; Hélène Piet-Lahanier 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：28
页码：526-531
DOI：10.1016/j.ifacol.2015.12.182
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a method for Finding the global maximum of a spatially varying Field using a multi-agent system. A surrogate model of the Field is determined via Kriging (Gaussian process regression) from a set of measurements collected by the agents. A criterion exploiting Kriging statistical properties is introduced for selecting new sampling points that each vehicle must rally. These new points are obtained as a compromise between improvement of the estimate of the global maximum and traveling distance. A cooperative control law is proposed to move the agents to the desired sampling points while avoiding collisions. Simulation results show the interest of the method and how it compares with a state-of-the-art solution.
关键词：KeywordsKrigingglobal extremum seekingmulti-agent systemscooperative exploration