论文标题
最佳羊群的概述
An Overview on Optimal Flocking
论文作者
论文摘要
在过去的二十年中，对机器人羊群的研究受到了很大的关注。当我们开始在物理多代理和群体上部署羊群控制算法时，对安全性和性能的严格承诺越来越有必要。在本文中，我们介绍了一项概述的文献，该文献着重于优化方法，以实现提供强大安全保证的羊群行为。我们将文献分为群集和线植入，并将群集植入系统级目标，这可以通过反应性或计划控制算法实现。我们还根据代理商利用的节能机制对线植入文献进行了分类。我们提出了几种旨在通过邻居过滤和事件驱动的计划最大程度地降低实际系统中的通信和计算要求的方法，并以我们对最佳羊群作为一个领域的前景和未来研究方向的看法。
The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises on safety and performance. In this paper, we present an overview the literature focusing on optimization approaches to achieve flocking behavior that provide strong safety guarantees. We separate the literature into cluster and line flocking, and categorize cluster flocking with respect to the system-level objective, which may be realized by a reactive or planning control algorithm. We also categorize the line flocking literature by the energy-saving mechanism that is exploited by the agents. We present several approaches aimed at minimizing the communication and computational requirements in real systems via neighbor filtering and event-driven planning, and conclude with our perspective on the outlook and future research direction of optimal flocking as a field.
