论文标题
随机多代理系统的合作路径积分控制
Cooperative Path Integral Control for Stochastic Multi-Agent Systems
论文作者
论文摘要
为合作多代理系统提供了分布式随机最佳控制解决方案。代理网络分为多个阶乘子系统，每个子系统由中央代理和相邻代理组成。仅依靠代理的本地观察结果的本地控制动作旨在优化子系统的共同成本功能。在求解局部控制动作时，每个子系统的关节最优方程都作为线性偏微分方程，并使用Feynman-KAC公式求解。然后将解决方案和最佳控制作用作为路径积分配制，并通过蒙特卡洛方法近似。数值验证是通过由合作无人机团队组成的模拟示例提供的。
A distributed stochastic optimal control solution is presented for cooperative multi-agent systems. The network of agents is partitioned into multiple factorial subsystems, each of which consists of a central agent and neighboring agents. Local control actions that rely only on agents' local observations are designed to optimize the joint cost functions of subsystems. When solving for the local control actions, the joint optimality equation for each subsystem is cast as a linear partial differential equation and solved using the Feynman-Kac formula. The solution and the optimal control action are then formulated as path integrals and approximated by a Monte-Carlo method. Numerical verification is provided through a simulation example consisting of a team of cooperative UAVs.
