With emphasizing that the integration of autonomy and coordination is the basis for constructing multi-agent systems (MAS), we analyze the organizational characters inherent with MAS and point out that it′s a natural...With emphasizing that the integration of autonomy and coordination is the basis for constructing multi-agent systems (MAS), we analyze the organizational characters inherent with MAS and point out that it′s a natural and essential way to construct MAS based on organization theory. We consider that the emphasis of the theory is the process of system analyzing. Then we present an analysis frame to expound the process, which includes the process of organization definition, the process of role definition, the process of organizational structure definition and the process of interaction protocol definition. Lastly, we discuss some issues associated with the processes of system design and implementation.展开更多
This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is gro...This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.展开更多
This paper deals with the proposal of a new model based on Agent Petri Nets (APN) to specify interactions among agents in Multi Agents System (MAS). Indeed, an agent approach requires a powerful and expressive formali...This paper deals with the proposal of a new model based on Agent Petri Nets (APN) to specify interactions among agents in Multi Agents System (MAS). Indeed, an agent approach requires a powerful and expressive formalism that allows him to model the behavior of a set of agents that interact. We are modeling some variants of FIPA standard protocols. Our Models are found based on communicating cognitive agents. Each Agent is capable of perceiving their environment partly and building, sending and receiving messages.展开更多
提出利用混合P2P(Mixed Peer to Peer)架构结合MA(Mobile Agent)技术解决移动计算环境下数据可靠收敛问题,在此基础上建立了MAMP(Mobile Agent and Mixed Peer Model)模型。分析了模型的系统结构和核心技术,重点阐述了MAMP模型的同步策...提出利用混合P2P(Mixed Peer to Peer)架构结合MA(Mobile Agent)技术解决移动计算环境下数据可靠收敛问题,在此基础上建立了MAMP(Mobile Agent and Mixed Peer Model)模型。分析了模型的系统结构和核心技术,重点阐述了MAMP模型的同步策略——HVU(Highest Votes to Update)算法,给出了严格的数学证明。实验结果表明,该模型基础下的算法具有较高的可靠性。展开更多
Efficient multi-machine cooperation and network dynamics still remain open that jeopardize great applications in largescale machine-to-machine(M2M) networks. Among all possible machine cooperation controls, to synchro...Efficient multi-machine cooperation and network dynamics still remain open that jeopardize great applications in largescale machine-to-machine(M2M) networks. Among all possible machine cooperation controls, to synchronize tremendous machines in a timing-efficient brings one of the greatest challenge and serves as the foundation for any other network control policies. In this paper, we propose a linear-time synchronization protocol in large M2M networks. Specifically, a closed-form of synchronization rate is provided by developing the statistical bounds of the second smallest eigenvalue of the graph Laplacian matrix. These bounds enable the efficient control of network dynamics, facilitating the timing synchronization in networks. Through a practical study in Metropolis, simulation results confirm our theoretical analysis and provide effective selection of wireless technologies, including Zigbee, Wi-Fi, and cellular systems, with respect to the deployed density of machines. Therefore, this paper successfully demonstrates a practical timing synchronization, to make a breakthrough of network dynamic control in real-world machine systems, such as Internet of Things.展开更多
任务分配方法是任务控制过程的重要组成部分,是编队协同作战指挥策略的关键。以合同网协议(contract net protocol,CNP)和多智能体系统(multi-agent system,MAS)理论为基础,建立了有人机/无人机编队MAS结构和基于投标过程的任务分配模型...任务分配方法是任务控制过程的重要组成部分,是编队协同作战指挥策略的关键。以合同网协议(contract net protocol,CNP)和多智能体系统(multi-agent system,MAS)理论为基础,建立了有人机/无人机编队MAS结构和基于投标过程的任务分配模型,将任务优先权引入任务分配模型中,可以实现预先任务分配和执行过程中动态任务分配,保证动态环境下编队整体分配效能较优。针对作战想定进行了仿真计算,结果表明,基于CNP和MAS理论的有人机/无人机编队协同任务分配策略具有良好的预先任务分配和实时任务分配效果,能够满足编队作战任务的需要。展开更多
文摘With emphasizing that the integration of autonomy and coordination is the basis for constructing multi-agent systems (MAS), we analyze the organizational characters inherent with MAS and point out that it′s a natural and essential way to construct MAS based on organization theory. We consider that the emphasis of the theory is the process of system analyzing. Then we present an analysis frame to expound the process, which includes the process of organization definition, the process of role definition, the process of organizational structure definition and the process of interaction protocol definition. Lastly, we discuss some issues associated with the processes of system design and implementation.
文摘This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.
文摘This paper deals with the proposal of a new model based on Agent Petri Nets (APN) to specify interactions among agents in Multi Agents System (MAS). Indeed, an agent approach requires a powerful and expressive formalism that allows him to model the behavior of a set of agents that interact. We are modeling some variants of FIPA standard protocols. Our Models are found based on communicating cognitive agents. Each Agent is capable of perceiving their environment partly and building, sending and receiving messages.
文摘提出利用混合P2P(Mixed Peer to Peer)架构结合MA(Mobile Agent)技术解决移动计算环境下数据可靠收敛问题,在此基础上建立了MAMP(Mobile Agent and Mixed Peer Model)模型。分析了模型的系统结构和核心技术,重点阐述了MAMP模型的同步策略——HVU(Highest Votes to Update)算法,给出了严格的数学证明。实验结果表明,该模型基础下的算法具有较高的可靠性。
基金supported by the Major Research plan of the National Natural Science Foundation of China 9118008National Key Technology R&D Program of the Ministry of Science and Technology 2014BAC16B01
文摘Efficient multi-machine cooperation and network dynamics still remain open that jeopardize great applications in largescale machine-to-machine(M2M) networks. Among all possible machine cooperation controls, to synchronize tremendous machines in a timing-efficient brings one of the greatest challenge and serves as the foundation for any other network control policies. In this paper, we propose a linear-time synchronization protocol in large M2M networks. Specifically, a closed-form of synchronization rate is provided by developing the statistical bounds of the second smallest eigenvalue of the graph Laplacian matrix. These bounds enable the efficient control of network dynamics, facilitating the timing synchronization in networks. Through a practical study in Metropolis, simulation results confirm our theoretical analysis and provide effective selection of wireless technologies, including Zigbee, Wi-Fi, and cellular systems, with respect to the deployed density of machines. Therefore, this paper successfully demonstrates a practical timing synchronization, to make a breakthrough of network dynamic control in real-world machine systems, such as Internet of Things.
文摘任务分配方法是任务控制过程的重要组成部分,是编队协同作战指挥策略的关键。以合同网协议(contract net protocol,CNP)和多智能体系统(multi-agent system,MAS)理论为基础,建立了有人机/无人机编队MAS结构和基于投标过程的任务分配模型,将任务优先权引入任务分配模型中,可以实现预先任务分配和执行过程中动态任务分配,保证动态环境下编队整体分配效能较优。针对作战想定进行了仿真计算,结果表明,基于CNP和MAS理论的有人机/无人机编队协同任务分配策略具有良好的预先任务分配和实时任务分配效果,能够满足编队作战任务的需要。
