基于最优刚性编队分布式生成算法

A Distributed Generation Algorithm Based on Optimally Rigid Formations

为了描述一类特殊的刚性图,给出最优刚性图的概念。在保持队形时,最优刚性图可以减少拓扑图的复杂性。为了最大可能地减少队形通信的复杂性,研究了最优刚性编队的生成理论。首先,提出了4个命题,用以论证基于分布式的最优刚性生成方算法的可行性;其次,基于这些命题,提出了一种多智能体系统的编队算法;最后,通过仿真来验证所提算法的有效性。

The notion of optimally rigid graph is defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to reduce the complexity of topology graphs in keeping the formation. In this paper, in order to minimize the communication complexity of formations, the authors study the generation theory of optimally rigid formations. Firstly, four important propositions are presented to demonstrate the feasibility of using decentralized method to generate optimally rigid graphs. Secondly, in view of these propositions, a formation algorithm for Multi-Agent System （MAS） is proposed. Lastly, some simulations are given to show the efficiency of the proposed algorithm.