In this paper, we introduce a new class of potential fields, i.e., meta navigation functions (MNFs) to coordinate multi-agent systems. Thanks to the MNF formulation, agents can contribute to each other's coordination via partial and/or total associations, contrary to traditional decentralized navigation functions (DNFs). In particular, agents may stimulate each other via their MNFs. Moreover, MNFs need to be confined which is a weaker condition compared to the Morse condition of DNFs. An MNF is composed of a confined function and an attraction kernel. The critical points of the former can be confined in a safe region around a target critical point. The collision-free trajectory of an agent and its associations to its peers are governed by a confined function before reaching its safe region. Then, the attraction kernel drives the agent to its target in the safe region. MNFs provide faster coordination compared to DNFs. We illustrate how MNFs may exhibit some social behaviors in the course of partial and total associations among agents. Our simulations verify the efficiency of MNFs to coordinate complex swarms of agents.
翻译:在本文中,我们引入了新的一类潜在领域,即元导航功能(MNF),以协调多试剂系统。由于多国部队的配方,代理人可以通过部分和(或)整体联系,与传统的分散导航功能(DNF)相反,通过部分和(或)整体联系促进彼此协调;特别是,代理人可以通过其传统的分散导航功能(DNF)相互促进;此外,多国部队需要加以限制,因为与DNF的摩尔条件相比,这种限制条件较弱。多国部队由一种有限的功能和吸引内核组成。前者的临界点可以限制在目标临界点周围的安全区域。一个代理人及其协会与同侪的无碰撞轨迹在到达安全区域之前受到一种有限功能的制约。然后,吸引力内核将代理人推向安全区域的目标。多国部队提供比DNFFF的更快的协调。我们说明多国部队如何在代理人之间的部分和整体联系过程中展示一些社会行为。我们的模拟核查了多国部队协调复杂的代理人队伍的效率。