追求者
追逃
纳什均衡
计算机科学
数学优化
有界函数
最优控制
控制(管理)
多智能体系统
图形
博弈论
控制理论(社会学)
数学
人工智能
数理经济学
理论计算机科学
数学分析
作者
Panpan Zhou,Ben M. Chen
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2024-05-01
卷期号:71 (5): 5224-5234
被引量:4
标识
DOI:10.1109/tie.2023.3283684
摘要
In this article, distributed optimal solutions are designed for networked multiagent pursuit-evasion (MPE) games for capture and formation control. In the games, the pursuers aim to minimize the distance from their target evaders while the evaders attempt to maximize it, and at the same time, all the players desire to maintain cohesion with their teammates. The goals of agents are obviously reflected in the obtained optimal control strategies, which consist of an attracting term and/or a repelling term. Nash equilibrium is obtained by means of optimal strategies using the solutions of the Hamilton–Jacobi–Isaacs equations. Furthermore, three scenarios are considered in the MPE game: one-pursuer one-evader, multiple-pursuer one-evader, and multiple-pursuer multiple-evader, where sufficient conditions are given for pursuers in achieving exponential capture or formation control with ultimate zero or bounded errors. It is shown that the conditions depend on the structure of the communication graph, the parameters in the controllers, and the expected formation configurations. Finally, both simulations and real flight experiments successfully demonstrate the effectiveness of the proposed strategies.
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