[1]戴丽.双向通信无人机集群领航顶点选取方法[J].智能系统学报,2021,16(3):484-492.[doi:10.11992/tis.202006010]
DAI Li.Leaders’ selection for UAV swarm with two-way communication[J].CAAI Transactions on Intelligent Systems,2021,16(3):484-492.[doi:10.11992/tis.202006010]
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DAI Li.Leaders’ selection for UAV swarm with two-way communication[J].CAAI Transactions on Intelligent Systems,2021,16(3):484-492.[doi:10.11992/tis.202006010]
双向通信无人机集群领航顶点选取方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
16
期数:
2021年第3期
页码:
484-492
栏目:
学术论文—智能系统
出版日期:
2021-05-05
- Title:
- Leaders’ selection for UAV swarm with two-way communication
- Keywords:
- leader’s selection; leader-follower framework; undirected network; Laplacian matrix; controllability; critical vertex set; minimum leader set; algorithm
- 分类号:
- TP273
- 摘要:
- 领航顶点选取是关系到领航-跟随模式无人机集群等多智能体系统可控性的重要问题。以具有几十架个体的无人机集群为研究对象，针对领航顶点选取问题，基于Laplace矩阵的特征向量，提出关键集概念。从理论上证明2关键集、3关键集以及独立关键集的图特征。在此基础上，给出求无向网络最小关键集的CSA算法，通过数值仿真实验获得了不同规模、不同通信半径条件下无人机集群最小领航集的数值特征。
- Abstract:
- Leaders’ selection plays a vital role in the controllability of multiagent systems, such as the leader-follower framework of UAVs. Using the UAV swarm with dozens of individuals as the research object and aiming at the problem of leaders’ selection, this paper proposes a critical set based on the eigenvector of a Laplace matrix. Theoretically, the graphical characteristics of two, three, and isolated critical sets are proved. Based on this, an algorithm named CSA for finding the minimum critical set of undirected communication networks is presented. Finally, numerical simulation is used to obtain the numerical features of the minimum leaders of UAVs of various sizes and communication radii.
- 参考文献/References:
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备注/Memo
收稿日期:2020-06-08。
基金项目:国家自然科学基金项目(11872371)
作者简介:戴丽，副教授，博士，主要研究方向为图论、博弈论和网络优化算法等。主持校预研项目1项，参与国家自然科学基金2项。发表学术论文10余篇
通讯作者:戴丽.E-mail:daili@nudt.edu.cn
更新日期/Last Update:
2021-06-25