文章基本信息

标题：Optimal Control of a Swarming Multi-agent System through Guidance of a Leader-Agent
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作者：Ertug Olcay ; Katharina Gabrich ; Boris Lohmann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：1-6
DOI：10.1016/j.ifacol.2019.12.092
语种：English
出版社：Elsevier
摘要：Control of a large group of individuals that form a collective has applications in the fields of swarm robotics, biology, economics and in control of human crowd motion. In this study, a leader-agent guides a group of autonomous agents with limited information to desired objectives. The basic idea of the leader-agent concept is that only the leader-agent knows the predetermined objective of the group and the environment. The leader tries by optimal interventions to steer the entire swarm towards objectives. For this purpose, we utilize an optimal control strategy. Possible objectives for the group include moving to a target position, tracking of a given trajectory, and avoiding collisions with obstacles in the two-dimensional space.
关键词：Keywordsmulti-agent systemsoptimal controlcooperative control