中国物理B ›› 2018, Vol. 27 ›› Issue (2): 28901-028901.doi: 10.1088/1674-1056/27/2/028901
• INTERDISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY • 上一篇 下一篇
Guo-Qiang Wang(王国强), He Luo(罗贺), Xiao-Xuan Hu(胡笑旋)
Guo-Qiang Wang(王国强)1,2, He Luo(罗贺)1,2, Xiao-Xuan Hu(胡笑旋)1,2
摘要: In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint (LC-HMAS-OPFGA), which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path (MCA-SP-OPGGA), and the optimal persistent graph adjusting algorithm based on the shortest path (SP-OPGAA). Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS-OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC-HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.
中图分类号: (Computer science and technology)