一种多智能体系统抗毁性拓扑结构构建方法教材.pdf

第27 卷摇 第4 期摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 模式识别与人工智能摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 Vol.27摇 No.4 摇 2014年4月摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 PR AI摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 Apr.摇 2014 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 一种多智能体系统抗毁性拓扑结构构建方法* 王摇 强摇 摇 陈摇 杰摇 摇 方摇 浩 (北京理工大学 自动化学院摇 北京 100081) (复杂系统智能控制与决策重点实验室摇 北京 100081) 摘摇 要摇 拓扑结构抗毁性对多智能体系统分布式协同控制完成既定的目标任务具有重要意义.文中研究多智能体 系统拓扑结构,提出基于权重的分簇方法,通过虚拟骨干网的分布式提取,完成层次型拓扑结构的构建.在基于簇 的层次型结构的基础上,提出关节点判断与中继节点运动控制相结合的分布式方法,实现网络的双连通,并阐述该 方法在网络化火控系统中的应用.实验表明文中提出的概念和方法能提高多智能体系统拓扑结构的灵活性和抗毁 性,为网络化无人作战理论在实践中的应用打下良好基础. 关键词摇 多智能体系统,拓扑结构,抗毁性,双连通 中图法分类号摇 TP 181 A Construction Method of Fault鄄Tolerant Topology for Multi鄄agent Systems WANG Qiang,CHENJie,FANG Hao (School of Automation,Beijing Institute of Technology,Beijing 100081) (Key Laboratory of Intelligent Control and Decision of Complex Systems,Beijing 100081) ABSTRACT Thefault鄄tolerant topology isimportantfor multi鄄agent systemsto completethe established objectives and tasks based on distributed cooperative control. The fault鄄tolerant topology of multi鄄agent systems is studied. A clustering algorithmbasedonweight ispresented,andthehierarchicaltopology isconstructed by distributed extraction of the virtual backbone network. A bi鄄connected network is realized using a distributed algorithmwhich combines articulation node鄄based algorithmwith control of relay nodes on the basis of hierarchical structure. Application of the method to the networked fire鄄control system is represented. Experimental results show that the proposed methodsenhance thefault tolerance of topology for multi鄄agent systems,which laysthefoundationsfor the networkedunmannedwarfare t