论文标题
通过屏障状态对网络多代理系统的安全嵌入式随机最佳控制
Safety Embedded Stochastic Optimal Control of Networked Multi-Agent Systems via Barrier States
论文作者
论文摘要
本文提出了一种新的方法，用于在网络多代理系统（MASS）中实现安全随机最佳控制。所提出的方法将屏障状态（贝斯）纳入系统动力学中，以嵌入安全限制。为此，将网络的MAS分解为多个子系统，每个子系统都用贝司为中心代理增强。最佳控制定律是通过在增强子系统上解决联合汉密尔顿 - 雅各比 - 贝尔曼（HJB）方程来获得的，该方程通过低音的界限来确保安全性。基于BAS的最佳控制技术在保持最佳性的同时产生安全的控制动作。使用路径积分近似安全的最佳控制解决方案。为了验证拟议方法的有效性，在两种不同的情况下，在合作无人机团队上进行了数值模拟。
This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) into the system dynamics to embed safety constraints. To accomplish this, the networked MAS is factorized into multiple subsystems, and each one is augmented with BaSs for the central agent. The optimal control law is obtained by solving the joint Hamilton-Jacobi-Bellman (HJB) equation on the augmented subsystem, which guarantees safety via the boundedness of the BaSs. The BaS-based optimal control technique yields safe control actions while maintaining optimality. The safe optimal control solution is approximated using path integrals. To validate the effectiveness of the proposed approach, numerical simulations are conducted on a cooperative UAV team in two different scenarios.
