复杂系统multi-agent_systems.pdf

Optimization and performance evaluation for complex systems Hu Jiangping School of Automation Engineering Multi-agent systems Introduction Multi-agent consensus control Multi-agent formation control Introduction The problem of coordination of multiple agents arises in numerous applications, both in natural and in man-made systems. Examples from nature include: Flocking of Birds Schooling of Fish Introduction Examples from Engineering Autonomous Formation Flying and UAV Networks Introduction Examples from Social Dynamics and Engineering Systems Mobile Robot Networks Crowd Dynamics and Building Egress Introduction Example from robotic cooperation Multi-Robot Manipulation Fundamental Questions In order to analyze such systems and design coordination strategies, several questions must be addressed:  What are the dynamics of the individual agents?  How do the agents exchange information?  How do we couple the available outputs to achieve collective behaviors? Statistical Physics and emergence of collective behavior Outline Multi-agent consensus control Multi-agent formation control Multi-agent setting: Vicsek model How can a group of moving agents collectively decide on direction, based on nearest neighbor interaction? r neighbors of agent i agent i How does global behavior emerge from local interactions? The underlying proximity graph We use graphs to represent neighboring rela