一种未知动态环境下异构无人机集群分布式联盟形成方法

针对未知动态环境下异构无人机集群的分布式联盟形成问题,首先构建了异构无人机集群的联盟任务自动机,实现了异构无人机集群在未知动态环境下的自主任务协调.在此基础之上,提出了一种基于蒙特卡洛树搜索的分布式联盟形成算法,该算法通过两阶段的蒙特卡洛树搜索来增量式地对联盟结构进行分布式优化,算法可在分布式框架下实施,并在任意时间内...

A Distributed Coalition Formation Method of Heterogeneous UAV Swarm in Unknown Dynamic Environment

Aiming at the problem of distributed coalition formation of heterogeneous UAV swarm in unknown dynamic environment, we first construct the coalition task automata of heterogeneous UAV swarm to realize the autonomous task coordination of heterogeneous UAV swarm. On this basis, a distributed coalition formation algorithm based on Monte Carlo tree search is proposed, which increments the distributed optimization of coalition structure through a two stage Monte Carlo tree search. The algorithm can be implemented in a distributed framework and can terminate at any time to return the current optimal solution. Finally, the simulation results show that the proposed algorithm can effectively deal with the problem of distributed coalition formation of heterogeneous UAV swarm in an unknown and dynamic environment, and can maintain better performance in the large scale coalition formation problem.