New precisely cooperative attacks, such as the coordi- nated cross plane session termination （CXPST） attack, need thou- sands upon thousands machines to attack diverse selected links simultaneously with the given ra...New precisely cooperative attacks, such as the coordi- nated cross plane session termination （CXPST） attack, need thou- sands upon thousands machines to attack diverse selected links simultaneously with the given rate. However, almost all command and control（C＆C） mechanisms only provide publishing one com- mand to the whole once, so-called one-to-all C＆C model, and are not productive to support CXPST-alike attacks. In this paper, we present one-to-any C＆C model on coordination among the unco- operative controlled nodes. As an instance of one-to-any C＆C model, directional command publishing （DCP） mechanism lever- aging on Kademlia is provided with a range-mapping key creating algorithm for commands to compute the publishing range and a statistically stochastic node querying scheme to obtain the com- mands immediately. With theoretical analysis and simulation, it is indicated that one-to-any C＆C model fits for precisely coordi- nated operation on uncooperative controlled nodes with least complexity, better accuracy and efficiency. Furthermore, DCP mechanism can support one-to-all command publishing at the same time. As an example of future C＆C model, studying on one-to-any C＆C model may help to promote the development of more efficient countermeasures.展开更多
In recent years,formation control of multi-agent has been a significant research subject in the field of cooperative control.However,previous works have mainly concentrated on formation control for simple point-mass m...In recent years,formation control of multi-agent has been a significant research subject in the field of cooperative control.However,previous works have mainly concentrated on formation control for simple point-mass model and linear model.In contrast,this paper presents a novel cooperative algorithm for multiple air vehicles formation control,which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment.The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination.Moreover,the Partial Integrated Formation and Control(PIFC)is adopted to design the control law for Guidance-Route based Formation Control(GRFC).Additionally,the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments.Theoretical analysis reveals that the proposed control protocol for guidance command can ensure the overall stability and tracking accuracy of the system.Numerical simulations are performed to illustrate the theoretical results,and verify that the proposed approach can achieve coordinated formation control precisely in a complex task environment.展开更多
随着人工智能等技术的发展,多智能体如无人机群等的实际应用领域逐渐广泛。多智能体深度确定性策略(Multi-Agent Deep Deterministic Policy Gradient, MADDPG)算法旨在解决多智能体在协作环境中的协同配合问题,凭借其独特的Actor-Criti...随着人工智能等技术的发展,多智能体如无人机群等的实际应用领域逐渐广泛。多智能体深度确定性策略(Multi-Agent Deep Deterministic Policy Gradient, MADDPG)算法旨在解决多智能体在协作环境中的协同配合问题,凭借其独特的Actor-Critic架构已成为多智能体领域主流的应用算法之一。针对指挥决策中多智能体协同任务存在的角色分工模糊、信息过载导致的算法策略收敛较慢等问题,提出了一种引入动态角色注意力(Dynamic Role Attention, DRA)机制的改进MADDPG算法——DRA-MADDPG。该算法在Actor-Critic架构中嵌入了DRA模块,通过动态调整智能体对不同角色同伴的关注权重,来实现分工协作的精准优化。具体而言,定义了指挥任务的角色集合与阶段划分,进而构建角色协同矩阵和阶段调整系数;在Critic网络中设计DRA模块,依托角色相关性与任务阶段来计算权重并筛选关键信息;改进了Actor网络,结合角色职责生成针对性的动作。仿真实验表明,与MADDPG相比,DRA-MADDPG的训练累积回报曲线下面积(Area Under the Curve, AUC)提升了2.4%,任务完成耗时降低了19.3%,且通过训练回报曲线对比分析可知,DRA-MADDPG对于短期训练拥有更好的学习效率。证明了该方法适用于复杂指挥决策场景,为多智能体协同提供了一种相对高效的解决方案。展开更多
为研究信息化条件下指挥控制(command and control,C2)系统在对抗环境下的自适应重构机制,基于复杂网络理论和作战指挥原则,从重构触发机制、边的修复策略、结构重组策略和重构评价机制4方面建立了C2系统的自适应重构模型,其中重点研究...为研究信息化条件下指挥控制(command and control,C2)系统在对抗环境下的自适应重构机制,基于复杂网络理论和作战指挥原则,从重构触发机制、边的修复策略、结构重组策略和重构评价机制4方面建立了C2系统的自适应重构模型,其中重点研究了边的修复策略和结构重组策略。针对边的修复提出了一种自适应修复策略;而针对结构重组,提出了升级重组、越级重组、转隶重组和组合重组4种重组策略。仿真结果表明,在综合考虑重构效果和成本消耗的情况下,与以往研究相比,边的自适应修复策略为相对较优的边重构策略,而与单一重组相比,组合重组策略为较优的结构重组策略;并且该自适应重构模型能在一定程度上比较客观地反映指挥控制系统的遇袭重构演化过程。展开更多
基金Supported by the National Natural Science Foundation of China(61402526,61502528)
文摘New precisely cooperative attacks, such as the coordi- nated cross plane session termination （CXPST） attack, need thou- sands upon thousands machines to attack diverse selected links simultaneously with the given rate. However, almost all command and control（C＆C） mechanisms only provide publishing one com- mand to the whole once, so-called one-to-all C＆C model, and are not productive to support CXPST-alike attacks. In this paper, we present one-to-any C＆C model on coordination among the unco- operative controlled nodes. As an instance of one-to-any C＆C model, directional command publishing （DCP） mechanism lever- aging on Kademlia is provided with a range-mapping key creating algorithm for commands to compute the publishing range and a statistically stochastic node querying scheme to obtain the com- mands immediately. With theoretical analysis and simulation, it is indicated that one-to-any C＆C model fits for precisely coordi- nated operation on uncooperative controlled nodes with least complexity, better accuracy and efficiency. Furthermore, DCP mechanism can support one-to-all command publishing at the same time. As an example of future C＆C model, studying on one-to-any C＆C model may help to promote the development of more efficient countermeasures.
基金co-supported by the National Natural Science Foundation of China(Nos.61773031 and 61573042)Graduate Innovation Practice Fund of Beihang University,China(No.YCSJ-01-201915)funded by the State Key Laboratory of Software Development Environment,China.
文摘In recent years,formation control of multi-agent has been a significant research subject in the field of cooperative control.However,previous works have mainly concentrated on formation control for simple point-mass model and linear model.In contrast,this paper presents a novel cooperative algorithm for multiple air vehicles formation control,which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment.The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination.Moreover,the Partial Integrated Formation and Control(PIFC)is adopted to design the control law for Guidance-Route based Formation Control(GRFC).Additionally,the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments.Theoretical analysis reveals that the proposed control protocol for guidance command can ensure the overall stability and tracking accuracy of the system.Numerical simulations are performed to illustrate the theoretical results,and verify that the proposed approach can achieve coordinated formation control precisely in a complex task environment.
基金Supported by National Natural Science Foundation of China(6040501260675055)the Science and Technology Department Foundation of Zhejiang Province(2008C21094)
文摘随着人工智能等技术的发展,多智能体如无人机群等的实际应用领域逐渐广泛。多智能体深度确定性策略(Multi-Agent Deep Deterministic Policy Gradient, MADDPG)算法旨在解决多智能体在协作环境中的协同配合问题,凭借其独特的Actor-Critic架构已成为多智能体领域主流的应用算法之一。针对指挥决策中多智能体协同任务存在的角色分工模糊、信息过载导致的算法策略收敛较慢等问题,提出了一种引入动态角色注意力(Dynamic Role Attention, DRA)机制的改进MADDPG算法——DRA-MADDPG。该算法在Actor-Critic架构中嵌入了DRA模块,通过动态调整智能体对不同角色同伴的关注权重,来实现分工协作的精准优化。具体而言,定义了指挥任务的角色集合与阶段划分,进而构建角色协同矩阵和阶段调整系数;在Critic网络中设计DRA模块,依托角色相关性与任务阶段来计算权重并筛选关键信息;改进了Actor网络,结合角色职责生成针对性的动作。仿真实验表明,与MADDPG相比,DRA-MADDPG的训练累积回报曲线下面积(Area Under the Curve, AUC)提升了2.4%,任务完成耗时降低了19.3%,且通过训练回报曲线对比分析可知,DRA-MADDPG对于短期训练拥有更好的学习效率。证明了该方法适用于复杂指挥决策场景,为多智能体协同提供了一种相对高效的解决方案。
文摘为研究信息化条件下指挥控制(command and control,C2)系统在对抗环境下的自适应重构机制,基于复杂网络理论和作战指挥原则,从重构触发机制、边的修复策略、结构重组策略和重构评价机制4方面建立了C2系统的自适应重构模型,其中重点研究了边的修复策略和结构重组策略。针对边的修复提出了一种自适应修复策略;而针对结构重组,提出了升级重组、越级重组、转隶重组和组合重组4种重组策略。仿真结果表明,在综合考虑重构效果和成本消耗的情况下,与以往研究相比,边的自适应修复策略为相对较优的边重构策略,而与单一重组相比,组合重组策略为较优的结构重组策略;并且该自适应重构模型能在一定程度上比较客观地反映指挥控制系统的遇袭重构演化过程。
