Robot formation control method and system with initial position privacy protection

Abstract

The present invention relates to the field of privacy protection technology, and in particular to a robot formation control method and system with initial position privacy protection, comprising: S1, setting a control model and a control target for robot formation control; S2, each robot i sends initial position information x to the robot formation control system according to its own privacy requirements; i (0) is decomposed into two sub-information #imgabs0# and #imgabs1# and the two sub-information are updated to #imgabs2# and #imgabs3# at time k. S3. Robot i broadcasts sub-information #imgabs4# to neighbor robot j. S4. Robot i receives sub-information #imgabs5# from neighbor robot j and then receives the designed external input #imgabs6# and #imgabs7#, and then updates its two sub-information #imgabs8# and #imgabs9# at time k+1. S5. Robot i updates its position information x according to its two sub-information #imgabs10# and #imgabs11# i (k+1); S6, after a certain period of iteration, the position of each robot i reaches the control target. The present invention can realize the robot formation control with initial position privacy protection.

Description

Technical Field

[0001] The present invention relates to the field of privacy protection technology, and in particular to a robot formation control method and system with initial position privacy protection. Background Art

[0002] With the widespread application of robots in industrial production, service fields and daily life, robot formation control has become a research direction that has attracted much attention. In robot formation control, multiple robots work together to achieve common tasks, such as search and rescue, environmental monitoring, and collaborative transportation. However, with the development of robot formation control technology, privacy protection issues have gradually become prominent, especially the initial position information of each robot in the robot formation often needs to be protected. Therefore, a robot formation control method that protects the privacy of the initial position is urgently needed. Summary of the invention

[0003] The present invention provides a robot formation control method and system with initial position privacy protection, which are used to implement robot formation control with initial position privacy protection. The technical solution is as follows:

[0004] On the one hand, a robot formation control method with initial position privacy protection is provided, comprising:

[0005] S1. Setting the control model and control target of robot formation control;

[0006] S2, each robot i sends the initial location information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and

[0007] S3, robot i will sub-information Broadcast to neighbor robot j;

[0008] S4. Robot i receives sub-information of neighbor robot j from neighbor robot j Then receive external input of the design and Then update its two sub-information at time k+1 and

[0009] S5, robot i according to its two sub-information and Update its location information x i (k+1);

[0010] S6. After a certain period of iteration, the position of each robot i reaches the control target.

[0011] Optionally, the control model of the robot formation control is set as:

[0012]

[0013] Where i, j represent the numbers of each robot, x i (k) represents the position of robot i at time k, x j (k) represents the position of robot j at time k, x i (k+1) represents the position of robot i at time k+1, a ii (k) represents the weight value of robot i itself, a ij (k) represents the weight value of information transmitted between robot i and robot j, represents the set of robots among the neighbors of robot i that can transmit information to i, assuming that there is at least one communication link between any robot i and any other robot j;

[0014] The control target of the robot formation control is set as:

[0015]

[0016] Among them, x i (0) represents the initial position information of robot i, N represents the total number of robots, and formula (2) indicates that after a certain period of iteration, the positions of each robot will be consistent, and the specific position is the average value of the initial positions of all robots.

[0017] Optionally, the S2 specifically includes:

[0018] Each robot i sends the initial location information x to i (0) Decomposed into two sub-information and in ω i ∈(0,1) represents the privacy requirement parameter. Robot i determines ω based on its own privacy requirement. i After decomposing the initial position information, the two sub-information are updated according to the following formulas:

[0019]

[0020] in represents the weight value of robot i’s sub-information α, represents the weight value of robot i’s sub-information β, represents the weight value between robot i and robot j, a αβ,i (k-1) and a βα,i (k-1) represents the weight value between the sub-information α and the sub-information β.

[0021] Optionally, the external input of S4 and It is obtained by two new auxiliary vectors, which are expressed as:

[0022] s i (k) = [s i,1 (k),s i,2 (k),...,s i,2N (k)] T ∈R 2N ,s N+i (k) = [s N+i,1 (k),s N+i,2 (k),...,s N+i,2N (k)] T ∈R 2N ;

[0023] The initial value of the auxiliary vector s i,i (0)=1,s N+i,N+i (0) = 1, i = 1, 2, ..., N, the other initial values ​​of the auxiliary vectors are 0, and the same update rule as equation (3) is selected to update the two auxiliary vectors as follows:

[0024]

[0025] Then design two external inputs for each robot i and The purpose is to make each robot converge to the same position better. The specific value is:

[0026]

[0027] in, represents an external input function,

[0028] Optionally, in S4, two sub-information are updated at time k+1 and as follows:

[0029]

[0030] Optionally, the S5 specifically includes:

[0031] Robot i updates its position information x i (k+1) is as follows:

[0032]

[0033] Optionally, the method is private:

[0034] Assume that robot j wants to obtain the initial position information x of neighboring robots i and m i (0) and x m (0), assuming that robot i wants to protect its initial position information from being obtained, while robot m wants to share its initial position information. Robots i and m are based on and Determine yourself and The value of ω i ,ω m ∈(0,1):

[0035] Because robot i wants to protect its own location information, it chooses ω i The value of will be relatively small, and robot m wants to share its own position information, so the selected ω m The value of will be relatively large, then robot j can only obtain a small part of the location information of robot i, and the information availability is very low, which meets the need of robot i to protect the location information; while robot j can obtain most of the location information of robot m, and the information availability is high, which meets the need of robot m to share location information;

[0036] When expanded to N robots, each robot selects a privacy budget parameter ω from (0,1) according to its own privacy needs. i , meeting the different privacy needs of different robots.

[0037] Optionally, for an external malicious eavesdropper who wants to obtain the robot's initial position information:

[0038] At any time, each robot only uses sub-information α to exchange information, so at the initial moment, an external malicious eavesdropper can only steal This information cannot be obtained directly from x i (0);

[0039] After a certain period of iteration, an external malicious eavesdropper can summarize all the information obtained to infer the robot's initial position information. By adjusting the weight value of the information interaction between robots, the external malicious eavesdropper can ensure that when the robot's initial position changes, the total amount of information summarized by the external malicious eavesdropper remains unchanged. Therefore, the external malicious eavesdropper cannot infer the robot's initial position information based on the eavesdropped information, and the robot's initial position information is protected.

[0040] Optionally, the method has convergence property:

[0041] After a certain period of iteration, the positions of each robot i will be consistent, and the specific position is the average of the initial positions of all robots:

[0042]

[0043] On the other hand, a robot formation control system with initial position privacy protection is provided, comprising:

[0044] A setting module is used to set the control model and control target of the robot formation control;

[0045] The first processing module is used for each robot i to convert the initial position information x into the initial position information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and

[0046] Broadcast module, used for robot to broadcast sub-information Broadcast to neighbor robot j;

[0047] The second processing module is used for robot i to receive the sub-information of neighbor robot j from neighbor robot j Then receive external input of the design and Then update its two sub-information at time k+1 and

[0048] Update module for robot i based on its two sub-information and Update its location information x i (k+1);

[0049] The iteration module is used to ensure that the position of each robot i reaches the control target after a certain period of iteration.

[0050] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the above-mentioned robot formation control method with initial position privacy protection.

[0051] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned robot formation control method with initial position privacy protection.

[0052] Compared with the prior art, the above technical solution has at least the following beneficial effects:

[0053] The present invention can realize robot formation control with initial position privacy protection, while taking into account the control accuracy and initial position privacy of the robots, and considering that the information interaction between robots is directed rather than simply undirected interaction. It also takes into account that different robots may have different privacy requirements. For example, some robots need to share their initial position information to cooperate with other robots, while some robots may want to protect their initial position information from being obtained. In addition, the initial position information of the robot is protected from being stolen by external malicious eavesdroppers. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 A flow chart of a robot formation control method with initial position privacy protection provided by an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of a robot formation with five robots provided in an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the position trajectory of each robot provided in an embodiment of the present invention;

[0058] Figure 4 Schematic diagram of eavesdropping on robot 4 by an external malicious eavesdropper under other methods;

[0059] Figure 5 A schematic diagram of an external malicious eavesdropper eavesdropping on the robot 4 under the method provided in an embodiment of the present invention;

[0060] Figure 6 A block diagram of a robot formation control system with initial position privacy protection provided by an embodiment of the present invention;

[0061] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] like Figure 1 As shown, an embodiment of the present invention provides a robot formation control method with initial position privacy protection, comprising:

[0064] S1. Setting the control model and control target of robot formation control;

[0065] Optionally, the control model of the robot formation control is set as:

[0066]

[0067] Where i, j represent the numbers of each robot, x i (k) represents the position of robot i at time k, x j (k) represents the position of robot j at time k, x i (k+1) represents the position of robot i at time k+1, a ii (k) represents the weight value of robot i itself, a ij (k) represents the weight value of information transmitted between robot i and robot j, represents the set of robots among the neighbors of robot i that can transmit information to i, assuming that there is at least one communication link between any robot i and any other robot j;

[0068] The control target of the robot formation control is set as:

[0069]

[0070] Among them, x i (0) represents the initial position information of robot i, N represents the total number of robots, and formula (2) indicates that after a certain period of iteration, the positions of each robot will be consistent, and the specific position is the average value of the initial positions of all robots.

[0071] S2, each robot i sends the initial location information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and

[0072] Optionally, the S2 specifically includes:

[0073] Each robot i sends the initial location information x to i (0) Decomposed into two sub-information and in ω i ∈(0,1) represents the privacy requirement parameter. Robot i determines ω based on its own privacy requirement. i After decomposing the initial position information, the two sub-information are updated according to the following formulas:

[0074]

[0075] in represents the weight value of robot i’s sub-information α, represents the weight value of robot i’s sub-information β, represents the weight value between robot i and robot j, a αβ,i (k-1) and a βα,i (k-1) represents the weight value between the sub-information α and the sub-information β.

[0076] In the embodiment of the present invention, the weight values ​​of each robot and the weight values ​​between them at each time k can be randomly set, which needs to satisfy and It is also possible to use the initially set weight values ​​to keep them unchanged at each moment.

[0077] S3, robot i will sub-information Broadcast to neighbor robot j;

[0078] Robot i only sends sub-information Broadcast to neighbor robot j, and send sub-information Keep it locally so that other robots or external malicious eavesdroppers can only get sub-information Instead of getting the complete x i (k), x i (k) is protected.

[0079] S4. Robot i receives sub-information of neighbor robot j from neighbor robot j Then receive external input of the design and Then update its two sub-information at time k+1 and

[0080] Optionally, the external input of S4 and It is obtained by two new auxiliary vectors, which are expressed as:

[0081] s i (k) = [s i,1 (k),s i,2 (k),...,s i,2N (k)] T ∈R 2N ,s N+i (k) = [s N+i,1 (k),s N+i,2 (k),...,s N+i,2N (k)] T ∈R 2N ;

[0082] The initial value of the auxiliary vector s i,i (0)=1,s N+i,N+i (0) = 1, i = 1, 2, ..., N, the other initial values ​​of the auxiliary vectors are 0, and the same update rule as equation (3) is selected to update the two auxiliary vectors as follows:

[0083]

[0084] Then design two external inputs for each robot i and The purpose is to make each robot converge to the same position better. The specific value is:

[0085]

[0086] in, represents an external input function,

[0087] Optionally, in S4, two sub-information are updated at time k+1 and as follows:

[0088]

[0089] S5, robot i according to its two sub-information and Update its location information x i (k+1);

[0090] Optionally, the S5 specifically includes:

[0091] Robot i updates its position information x i (k+1) is as follows:

[0092]

[0093] S6. After a certain period of iteration, the position of each robot i reaches the control target.

[0094] Optionally, the method is private:

[0095] Assume that robot j wants to obtain the initial position information x of neighboring robots i and m i (0) and x m (0), assuming that robot i wants to protect its initial position information from being obtained, while robot m wants to share its initial position information. Robots i and m are based on and Determine yourself and The value of ω i ,ω m ∈(0,1):

[0096] Because robot i wants to protect its own location information, it chooses ω i The value of will be relatively small, and robot m wants to share its own position information, so the selected ω m The value of will be relatively large, then robot j can only obtain a small part of the location information of robot i, and the information availability is very low, which meets the need of robot i to protect the location information; while robot j can obtain most of the location information of robot m, and the information availability is high, which meets the need of robot m to share location information;

[0097] When expanded to N robots, each robot selects a privacy budget parameter ω from (0,1) according to its own privacy needs. i , meeting the different privacy needs of different robots.

[0098] Optionally, for an external malicious eavesdropper who wants to obtain the robot's initial position information:

[0099] At any time, each robot only uses sub-information α to exchange information, so at the initial moment, an external malicious eavesdropper can only steal This information cannot be obtained directly from x i (0);

[0100] After a certain period of iteration, an external malicious eavesdropper can summarize all the information obtained to infer the robot's initial position information. By adjusting the weight value of the information interaction between robots, the external malicious eavesdropper can ensure that when the robot's initial position changes, the total amount of information summarized by the external malicious eavesdropper remains unchanged. Therefore, the external malicious eavesdropper cannot infer the robot's initial position information based on the eavesdropped information, and the robot's initial position information is protected.

[0101] That is, when the initial position information of the robot takes multiple different values, the total information collected by the external malicious eavesdropper remains unchanged, so the external malicious eavesdropper cannot determine which of the multiple different values ​​is the real initial position information of the robot.

[0102] Optionally, the method has convergence property:

[0103] After a certain period of iteration, the positions of each robot i will be consistent, and the specific position is the average of the initial positions of all robots:

[0104]

[0105] Furthermore, when the method of the embodiment of the present invention realizes the convergence of robot positions, there is no need to use the traditional push-sum method for directed networks to perform information exchange between robots, which greatly reduces the communication burden.

[0106] To further verify the correctness of the method, the embodiment of the present invention uses Figure 2 The directed interaction topology shown in the figure is used to simulate a robot formation with 5 robots. First, the initial positions of the 5 robots are set to x1(0) = (1,5), x2(0) = (3,7), x3(0) = (5,8), x4(0) = (7,9), and x5(0) = (9,11). Their average position is x ave =(5,8).

[0107] Set the weight values ​​of each robot and the other robots, and assume that robot 2 wants to share its initial position information, robot 4 wants to protect its initial position information, robot 3 is a curious neighbor of 2 and 4, and use x′2(0) to represent the information it obtains about robot 2, and x′4(0) to represent the information it obtains about robot 4.

[0108] After using the method of the embodiment of the present invention, each robot performs initial position information decomposition according to its own privacy requirements. After a certain period of iteration, the final result is as follows: Figure 3 As shown, it can be seen that each robot can eventually converge to the average position x ave =(5,8), and the information of robot 2 obtained by robot 3 is very close to the real information of robot 2, and most of the location information of robot 2 is successfully obtained. The information availability is very high, which meets the need of robot 2 to share information; while the information of robot 4 obtained by robot 3 is very different from the real information of robot 4, and only a small part of the location information is obtained. The information availability is not high, which can meet the need of robot 4 to protect its own information.

[0109] Then, in the embodiment of the present invention, it is assumed that there is an external malicious eavesdropper who wants to obtain the position information of robot 4. z4(k) represents the information of robot 4 obtained by the external malicious eavesdropper. When other robot formation control methods are used, the result is as follows: Figure 4 As shown, although each robot can eventually converge to the same position, an external malicious eavesdropper can successfully obtain the position information of robot 4; after using the method of the embodiment of the present invention, the final result is as follows Figure 5 As shown, it can be seen that not only can each robot converge to the same position, but also an external malicious eavesdropper cannot successfully steal the initial position information of robot 4, and the privacy of robot 4 is protected.

[0110] like Figure 6 As shown, an embodiment of the present invention further provides a robot formation control system with initial position privacy protection, including:

[0111] A setting module 610 is used to set a control model and a control target for the robot formation control;

[0112] The first processing module 620 is used for each robot i to convert the initial position information x into the initial position information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and

[0113] Broadcast module 630, used for robot i to broadcast child information Broadcast to neighbor robot j;

[0114] The second processing module 640 is used for robot i to receive the sub-information of neighbor robot j from neighbor robot j. Then receive external input of the design and Then update its two sub-information and

[0115] Update module 650, for robot i to update according to its two sub-information and Update its location information x i (k+1);

[0116] The iteration module 660 is used to ensure that the position of each robot i reaches the control target after a certain period of iteration.

[0117] An embodiment of the present invention provides a robot formation control system that performs initial position privacy protection, and its functional structure corresponds to a robot formation control method that performs initial position privacy protection provided by an embodiment of the present invention, which will not be repeated here.

[0118] Figure 7 It is a structural diagram of an electronic device 700 provided in an embodiment of the present invention. The electronic device 700 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 701 and one or more memories 702, wherein at least one instruction is stored in the memory 702, and the at least one instruction is loaded and executed by the processor 701 to implement the steps of the above-mentioned robot formation control method with initial position privacy protection.

[0119] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including instructions, which can be executed by a processor in a terminal to complete the above-mentioned robot formation control method with initial position privacy protection. For example, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0120] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot formation control method with initial position privacy protection, characterized in that: include: S1. Setting the control model and control target of robot formation control; S2, each robot i sends the initial location information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and S3, robot i will sub-information Broadcast to neighbor robot j; S4. Robot i receives sub-information of neighbor robot j from neighbor robot j Then receive external input of the design and Then update its two sub-information at time k+1 and S5, robot i according to its two sub-information and Update its location information x i (k+1); S6. After a certain period of iteration, the position of each robot i reaches the control target; The control model of the robot formation control is set as: Where i, j represent the numbers of each robot, x i (k) represents the position of robot i at time k, x j (k) represents the position of robot j at time k, x i (k+1) represents the position of robot i at time k+1, a ii (k) represents the weight value of robot i itself, a ij (k) represents the weight value of information transmitted between robot i and robot j, N i - represents the set of robots among the neighbors of robot i that can transmit information to i, assuming that there is at least one communication link between any robot i and any other robot j; The control target of the robot formation control is set as: Among them, x i (0) represents the initial position information of robot i, N represents the total number of robots, and formula (2) indicates that after a certain period of iteration, the positions of each robot will reach a consistent state, and the specific position is the average value of the initial positions of all robots; The S2 specifically includes: Each robot i sends the initial location information x to i (0) Decomposed into two sub-information and in ω i ∈(0,1) represents the privacy requirement parameter. Robot i determines ω based on its own privacy requirement. i After decomposing the initial position information, the two sub-information are updated according to the following formulas: in represents the weight value of robot i’s sub-information α, represents the weight value of robot i’s sub-information β, represents the weight value between robot i and robot j, a αβ,i (k-1) and a βα,i (k-1) represents the weight value between sub-information α and sub-information β; The external input of S4 and It is obtained by two new auxiliary vectors, which are expressed as: s i (k)=[s i,1 (k),s i,2 (k),…,s i,2N (k)] T ∈R 2N ,s N+i (k)=[s N+i,1 (k),s N+i,2 (k),…,s N+i,2N (k)] T ∈R 2N ; The initial value of the auxiliary vector s i,i (0)=1,s N+i,N+i (0) = 1, i = 1, 2, ..., N, the other initial values ​​of the auxiliary vectors are 0, and the same update rule as equation (3) is selected to update the two auxiliary vectors as follows: Then design two external inputs for each robot i and The purpose is to make each robot converge to the same position better. The specific value is: in, represents an external input function, In S4, two sub-information are updated at time k+1. and as follows: The S5 specifically includes: Robot i updates its position information x i (k+1) is as follows: The method described is private: Assume that robot j wants to obtain the initial position information x of neighboring robots i and m i (0) and x m (0), assuming that robot i wants to protect its initial position information from being obtained, while robot m wants to share its initial position information. Robots i and m are based on and Determine yourself and The value of ω i ,ω m ∈(0,1): Because robot i wants to protect its own location information, it chooses ω i The value of will be relatively small, and robot m wants to share its own position information, so the selected ω m The value of will be relatively large, then robot j can only obtain a small part of the location information of robot i, and the information availability is very low, which meets the need of robot i to protect the location information; while robot j can obtain most of the location information of robot m, and the information availability is high, which meets the need of robot m to share location information; When expanded to N robots, each robot selects a privacy budget parameter ω from (0,1) according to its own privacy needs. i , meeting the different privacy needs of different robots.

2. The method according to claim 1, characterized in that For an external malicious eavesdropper who wants to obtain the robot's initial position information: At any time, each robot only uses sub-information α to exchange information, so at the initial moment, an external malicious eavesdropper can only steal This information cannot be obtained directly from x i (0); After a certain period of iteration, an external malicious eavesdropper can summarize all the information obtained to infer the robot's initial position information. By adjusting the weight value of the information interaction between robots, the external malicious eavesdropper can ensure that when the robot's initial position changes, the total amount of information summarized by the external malicious eavesdropper remains unchanged. Therefore, the external malicious eavesdropper cannot infer the robot's initial position information based on the eavesdropped information, and the robot's initial position information is protected.

3. The method according to claim 1, characterized in that The method described is convergent: After a certain period of iteration, the positions of each robot i will be consistent, and the specific position is the average of the initial positions of all robots:

4. A robot formation control system with initial position privacy protection, characterized in that: include: A setting module is used to set the control model and control target of the robot formation control; The first processing module is used for each robot i to convert the initial position information x into the initial position information x according to its own privacy requirements. i (0) Decomposed into two sub-information and And at time k, the two sub-information are updated as and Broadcast module, used for robot to broadcast sub-information Broadcast to neighbor robot j; The second processing module is used for robot i to receive the sub-information of neighbor robot j from neighbor robot j Then receive external input of the design and Then update its two sub-information at time k+1 and Update module for robot i based on its two sub-information and Update its location information x i (k+1); An iteration module, used to ensure that the position of each robot i reaches the control target after a certain period of iteration; The control model of the robot formation control is set as: Where i, j represent the numbers of each robot, x i (k) represents the position of robot i at time k, x j (k) represents the position of robot j at time k, x i (k+1) represents the position of robot i at time k+1, a ii (k) represents the weight value of robot i itself, a ij (k) represents the weight value of information transmitted between robot i and robot j, represents the set of robots among the neighbors of robot i that can transmit information to i, assuming that there is at least one communication link between any robot i and any other robot j; The control target of the robot formation control is set as: Among them, x i (0) represents the initial position information of robot i, N represents the total number of robots, and formula (2) indicates that after a certain period of iteration, the positions of each robot will reach a consistent state, and the specific position is the average value of the initial positions of all robots; The first processing module is specifically used for: Each robot i sends the initial location information x to i (0) Decomposed into two sub-information and in ω i ∈(0,1) represents the privacy requirement parameter. Robot i determines ω based on its own privacy requirement. i After decomposing the initial position information, the two sub-information are updated according to the following formulas: in represents the weight value of robot i’s sub-information α, represents the weight value of robot i’s sub-information β, represents the weight value between robot i and robot j, a αβ,i (k-1) and a βα,i (k-1) represents the weight value between sub-information α and sub-information β; The external input in the second processing module and It is obtained by two new auxiliary vectors, which are expressed as: s i (k)=[s i,1 (k),s i,2 (k),…,s i,2N (k)] T ∈R 2N ,s N+i (k)=[s N+i,1 (k),s N+i,2 (k),…,s N+i,2N (k)] T ∈R 2N ; The initial value of the auxiliary vector s i,i (0)=1,s N+i,N+i (0) = 1, i = 1, 2, ..., N, the other initial values ​​of the auxiliary vectors are 0, and the same update rule as equation (3) is selected to update the two auxiliary vectors as follows: Then design two external inputs for each robot i and The purpose is to make each robot converge to the same position better. The specific value is: in, represents an external input function, The second processing module is specifically used for: Update its two sub-information at time k+1 and as follows: The update module is specifically used for: Robot i updates its position information x i (k+1) is as follows: The system has privacy features: Assume that robot j wants to obtain the initial position information x of neighboring robots i and m i (0) and x m (0), assuming that robot i wants to protect its initial position information from being obtained, while robot m wants to share its initial position information. Robots i and m are based on and Determine yourself and The value of ω i ,ω m ∈(0,1): Because robot i wants to protect its own location information, it chooses ω i The value of will be relatively small, and robot m wants to share its own position information, so the selected ω m The value of will be relatively large, then robot j can only obtain a small part of the location information of robot i, and the information availability is very low, which meets the need of robot i to protect the location information; while robot j can obtain most of the location information of robot m, and the information availability is high, which meets the need of robot m to share location information; When expanded to N robots, each robot selects a privacy budget parameter ω from (0,1) according to its own privacy needs. i , meeting the different privacy needs of different robots.

Images