论文标题
多代理环境探索的厄运控制策略
Ergodic Control Strategy for Multi-Agent Environment Exploration
论文作者
论文摘要
在这项研究中，为集中式多代理系统引入了崇高的环境探索问题。给定以高斯（MOG）的混合物表示的参考分布，当时间平均机器人分布与给定的参考分布相同时，就可以实现牙周差。与此问题相关的主要挑战是确定代理团队（机器人）访问参考MOG中的每个高斯组件的适当时机，以进行终止。沿阵行的函数定义为基于时机分析的牙经性量度，收敛条件是得出的。拟议的控制策略提供了相对合理的绩效，以实现恐怖性。我们为集中式多机构控制提供了形式的算法，以实现牙齿性和模拟结果，以验证所提出的算法。
In this study, an ergodic environment exploration problem is introduced for a centralized multi-agent system. Given the reference distribution represented by the Mixture of Gaussian (MoG), the ergodicity is achieved when the time-averaged robot distribution is identical to the given reference distribution. The major challenge associated with this problem is to determine proper timing for a team of agents (robots) to visit each Gaussian component in the reference MoG for ergodicity. The ergodic function is defined as a measure of ergodicity and the condition for convergence is derived based on timing analysis. The proposed control strategy provides relatively reasonable performance to achieve the ergodicity. We provide the formal algorithm for centralized multi-agent control to achieve the ergodicity and simulation results are presented for the validation of the proposed algorithm.
