A General Auxiliary Controller for Multi-agent Flocking

被引：0
|
作者：
Zhou, Jinfan [1 ]
Cheng, Jiyu [1 ]
Zhang, Lin [1 ]
Zhang, Wei [1 ,2 ]
机构：
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
[2] Shandong Univ, Inst Brain & Brain Inspired Sci, Jinan 250061, Peoples R China
来源：
2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2021年
基金：
中国国家自然科学基金;
关键词：
NETWORKS;
D O I：
10.1109/M2VIP49856.2021.9665081
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We aim to improve the performance of multi-agent flocking behavior by quantifying the structural significance of each agent. We designed a confidence score(ConfScore) to measure the spatial significance of each agent. The score will be used by an auxiliary controller to refine the velocity of agents. The agents will be enforced to follow the motion of the leader agents whose ConfScores are high. We demonstrate the efficacy of the auxiliary controller by applying it to several existing algorithms including learning-based and non-learning-based methods. Furthermore, we examined how the auxiliary controller can help improve the performance under different settings of communication radius, number of agents and maximum initial velocity.
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页数：6
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