基于演化博弈的多智能体环形编队的理论与实验研究

项目名称： 基于演化博弈的多智能体环形编队的理论与实验研究

项目编号： No.61503008

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 王晨

作者单位： 北京大学

项目金额： 21万元

中文摘要： 多机器人协作技术具有巨大的应用价值，编队控制是多机器人协作应用的核心支撑技术。环形编队是其中的标准问题，受到国内外学者的广泛关注。演化博弈是研究自私个体如何产生合作行为的最有力工具，本项目首先将演化博弈理论引入到多智能体系统环形编队控制问题中，提出一个融合演化博弈理论的多智能体系统动力学模型；然后研究群体合作动力学和多智能体系统动力学的共演化的问题，确定若干影响合作水平的决定性的因素和机制，定量分析其对系统动力学的影响；接着提出合理性能优化指标，设计控制协议和演化规则，对系统进行性能优化；最后，展开多机器鱼环形编队的实验研究，对所得理论进行验证和评价。本项目成果将有助于从理论上拓展多智能体系统协作控制的研究，为多智能体系统的分析与控制提供新思路和新方法。

中文关键词： 多智能体系统；机器鱼；演化博弈；共演化；环形编队

英文摘要： Formation control is one of the key technology for multi-robot cooperation which has an important application value. As a benchmark problem in formation control, circle formation problem has attracted extensive attention from researchers. Evolutionary game theory is a powerful tool for the investigation of how cooperation might evolve in a population of self-regarding agents. This proposal introduces the evolutionary game theory to the circle formation problem for multi-agent systems. A coevolutionary dynamics model of multi-agent systems combined with evolutionary game theory will be proposed, and the coevolution of the dynamics of cooperation in the population and the dynamics of system will be investigated. We will decide some decisive factors and mechanisms which affect the level of cooperation, and analyze how they affect the system dynamics. Some reasonable performance indices are proposed and the mathematical description and model of the performance optimization problem will be given. Then, we will design control protocols and the strategy update rules in our proposed coevolutionary dynamics model of multi-agent systems based on evolutionary game theory to solve the optimization problem. Finally, an experimental platform for the circle formation problems for multiple robotic fish will be constructed, and we will conduct experiments to verify our theoretical results. The research results of this proposal will provide strong support to perfect the research on formation problems of multi-agent systems and provide new idea and method for the analysis and control of networked multi-agent systems.

英文关键词： multi-agent system;robotic fish;evlutionary game theory;co-evolution;circle formation