论文标题
与多个转向剂的无通信牧羊导航
Communication-Free Shepherding Navigation with Multiple Steering Agents
论文作者
论文摘要
考虑到一组被动代理的导航和控制，Swarm指导解决了一个具有挑战性的问题。为了解决这个问题，Shepherding通过使用适当设计的运动定律的外部转向器来提供一种生物启发的技术，可通过使用外部转向代理来浏览此类代理。尽管大多数牧羊研究主要基于集中指令的可用性，但这些假设不够现实，无法解决一些新兴的应用程序问题。因此，本文提出了一种分散的牧羊方法，每个转向代理都会根据自己的观察进行动作，而无需进行任何代理间交流。我们的数值模拟通过在各种位置模式下显示出高成功率和低成本来证实该方法的有效性。随着转向剂数量的增加，这些优势尤其改善。
Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired technique of navigating such group of agents by using external steering agents with appropriately designed movement law. Although most shepherding researches are mainly based on the availability of centralized instructions, these assumptions are not realistic enough to solve some emerging application problems. Therefore, this paper presents a decentralized shepherding method where each steering agent makes movements based on its own observation without any inter-agent communication. Our numerical simulations confirm the effectiveness of the proposed method by showing its high success rate and low costs in various placement patterns. These advantages particularly improve with the increase in the number of steering agents.
