Topology-preserving flocking of nonlinear agents using optimistic planning
Lucian BU SONIU
Irinel-Constantin MORARESCU
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.
机标关键词：artificial intelligencesubset of variablesmultiagent systemscontrol technique
论文发表日期：2015-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：12( 70-81 )
英文信息