Optimization method of multi-agent system consistency problem based on sub-graph processing

A technology of multi-agent system and optimization method, applied in the field of multi-agent system, can solve the problems of slow convergence speed, node storage capacity, and higher computing power requirements.

Pending Publication Date: 2020-06-09
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

Xiao and Boyd first proposed a deterministic Gossip algorithm. In this algorithm, each node exchanges information with its neighbor nodes at the same time, and then calculates the weighted average value between itself and all neighbors. When the weight matrix composed of weighted coefficients is a consistent average matrix, the information of all nodes will converge to the average consistency; Nedic and Ozdaglar refer to the idea of ​​deterministic Gossip algorithm, and propose a distributed gradient descent method. The gradient descent method minimizes the local cost function to speed up the consistent convergence speed. This kind of gradient-based distributed optimization a...

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  • Optimization method of multi-agent system consistency problem based on sub-graph processing
  • Optimization method of multi-agent system consistency problem based on sub-graph processing
  • Optimization method of multi-agent system consistency problem based on sub-graph processing

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Embodiment

[0057] An optimization method for the consensus problem of multi-agent systems based on subgraph processing, including the following steps:

[0058] 1) Construct the graph signal model of the multi-agent system: according to the communication situation among the agents in the multi-agent system, the topological structure of the graph signal model is drawn, and the observation data of the agent is used as the node signal in the graph signal model, and the multi-agent system is established. The graph signal model of the agent system G=(V,E,A), where V={1,2,…,N} represents the set of nodes; E={e ij} represents the set of edges, e ij =(i,j) indicates that there is an edge connecting node i and node j, A indicates the adjacency matrix of the whole graph, and the adjacency matrix A={a ij}∈R N×N , when there is an edge between nodes i and j a ij =a ji =1, define the degree matrix D of the graph D=diag(d i ),in The Laplacian matrix of a graph is defined as formula (1):

[0059...

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Abstract

The invention discloses a multi-agent system consistency problem optimization method based on sub-graph processing, and the method is characterized in that the method comprises the following steps: 1)constructing a graph signal model of a multi-agent system; the method comprises the following steps of (1) solving a problem to be solved, (2) adding an auxiliary constraint condition to the problemto be solved, (3) carrying out local inversion in sub-graphs, (4) carrying out fusion averaging between the sub-graphs, and (5) iteratively eliminating errors, and the method is capable of reducing operation complexity, achieving consistent averaging, high in convergence speed and low in requirements for computing capacity and storage capacity of a single node of a system.

Description

technical field [0001] The invention relates to the technical field of multi-agent systems, in particular to an optimization method for the consistency problem of a multi-agent system based on subgraph processing. Background technique [0002] Multi-agent systems are widely used in flight formations, robot formations, traffic control systems, sensor networks, and many other fields. A single agent in a multi-agent system has limited sensing, communication, and computing capabilities, while the entire multi-agent system uses the cooperation between agents to complete high-complexity tasks. As a carrier of distributed information processing, multi-agent systems have been widely studied in the fields of computer science, communication engineering, biological intelligence, and automatic control. In the cooperative control problem of multi-agent systems, achieving the required consistency is the prerequisite for agents to coordinate and cooperate, so the consistency problem has r...

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Application Information

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IPC IPC(8): G06F17/16G06F17/17G06F30/20
CPCG06F17/16G06F17/17
Inventor 蒋俊正李龙斌李杨剑池源冯海荣卢军志黄炟鑫
Owner GUILIN UNIV OF ELECTRONIC TECH
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