A Consensus Method for Multi-Agent Systems Based on Signal Coarsening on Graph

A multi-agent system and multi-intelligence technology, applied in the field of multi-agent systems, can solve problems such as slow convergence speed

Active Publication Date: 2021-11-02
GUILIN UNIV OF ELECTRONIC TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the problem that the existing multi-intelligence system achieves consistency with a relatively slow convergence speed, and provides a multi-agent system consistency method based on signal roughening on the graph

Method used

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  • A Consensus Method for Multi-Agent Systems Based on Signal Coarsening on Graph
  • A Consensus Method for Multi-Agent Systems Based on Signal Coarsening on Graph
  • A Consensus Method for Multi-Agent Systems Based on Signal Coarsening on Graph

Examples

Experimental program
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Effect test

example 1

[0057] Create a node numbered 1-9, the signal initial value x(0)=[-98-36-57-24-6] T A graph model such as figure 2 shown. In the figure, node 3 has the largest degree, and it is selected as the first super node, numbered as A, and its neighbor nodes 1, 2, 4, 5 and the edges between them are divided into a local set; then node 4 and Node 6, the edge between node 5 and node 6, node 5 and node 7, select node 7 as the second super node in the remaining part of the graph (when there are nodes with the same degree, select according to the numbering order) , numbered B, forms the second local set with nodes 6, 8 and the edges between them; finally, node 9 alone forms the third local set, and the number of the third supernode is C. The number of initial graph nodes is 9, and the number of roughened graph nodes is 3. Coordinate the nodes in each local set, and the signal value of the super node Connect the edges between the super nodes, and the roughened graph after completion i...

example 2

[0059] A comparison between the method proposed by Izumi S et al. and the present invention is given. The iterative formula of the method proposed by Izumi S et al. is, x(t+1)=(I-ε t L)x(t), where lambda max is the largest eigenvalue of the initial graph Laplacian matrix. The inventive method iterative formula is x(t+1)=(I-ε t L)x(t), where λ' max is the largest eigenvalue of the coarsened graph Laplacian matrix. The iteration termination condition is that the difference between the signal value of each node and the signal value after the previous iteration is less than 10 -4 . Comparing the number of iterations, the results are as follows Figure 5 shown. The iteration time is compared, and the results are shown in Table 1. Compared with the existing invention 1, the number of iterations of the algorithm of the present invention is reduced by 72.12% on average, and the iteration time of the algorithm of the present invention is reduced by 77.43% compared with the...

example 3

[0064] A comparison between the method proposed by Yi J W et al. and the invention of the present invention is given. The iterative formula of the method proposed by Yi J W et al. is x(t+1)=(I-ε t L)x(t), where p is the number of different eigenvalues ​​of the Laplace matrix of the initial graph (0=λ 1 2 …p ). The inventive method: iterative formula is x (t+1)=(I-ε t L)x(t), where Where m is the number of different eigenvalues ​​of the Laplacian matrix of the coarsening graph (0=λ 1 2 …m ). Comparing the number of iterations, the results are as follows Image 6 shown. The iteration time is compared, and the results are shown in Table 2. Compared with the method proposed by Yi J W et al., the number of iterations of the algorithm of the present invention is reduced by 78.62% on average, and the iteration time of the algorithm of the present invention is reduced by 74.25% compared with the existing invention 1 algorithm when the number of nodes is greater than 1000.

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Abstract

The invention discloses a multi-agent system consistency method based on signal coarsening on a graph. Based on the idea of ​​dimensionality reduction processing on a signal on a graph, the initial graph signal model constructed by a multi-agent system is selected and localized. The division of the super-node signal value is obtained through the collaboration in the local set, and then the graph filter coefficient is designed by using the Laplacian matrix eigenvalue of the coarsened graph. After the super-node signal reaches the average value through the graph filter iteration, It is transmitted to its neighbor nodes, so that the signal values ​​of all nodes reach an average consistency. The invention can significantly increase the consistency convergence speed and reduce the amount of calculation.

Description

technical field [0001] The invention relates to the technical field of multi-agent systems, in particular to a multi-agent system consistency method based on signal roughening on a graph. Background technique [0002] The distributed collaborative control technology of multi-agent systems has attracted much attention and has been widely used in many fields such as UAV formation control, industrial production, traffic control, and sensor networks. A multi-agent system is a networked system composed of a group of agents with certain storage, communication, and computing capabilities through a certain communication method. The entire system needs to use the mutual cooperation between agents to complete complex tasks and intelligent behaviors, but the design of each agent in the system is relatively simple and can only interact with its adjacent agents without obtaining global information, so it is necessary to Design a suitable algorithm to control the agents cooperatively. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 蒋俊正李龙斌杨杰杨圣赵海兵李杨剑
Owner GUILIN UNIV OF ELECTRONIC TECH
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