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Cooperative control and communication of intelligent swarms: a survey
KunHOU,YajunYANG,XuerongYANG,JiazheLAI
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(Department of Aerospace Science and Technology, University of Aerospace Engineering, Beijing 101416, China;School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou Guangdong 510275, China)
摘要:
Individuals exchange information, experience and strategy based on communication. Communication is the basis for individuals to form swarms and the bridge of swarms to realize cooperative control. In this paper, the multi-robot swarm and its cooperative control and communication methods are reviewed, and we summarize these methods from the task, control, and perception levels. Based on the research, the cooperative control and communication methods of intelligent swarms are divided into the following four categories: task assignment based methods (divided into market-based methods and alliance based methods), bio-inspired methods (divided into biochemical information inspired methods, vision based methods and self-organization based methods), distributed sensor fusion and reinforcement learning based methods, and we briefly define each method and introduce its basic ideas. Based on WOS database, we divide the development of each method into several stages according to the time distribution of the literature, and outline the main research content of each stage. Finally, we discuss the communication problems of intelligent swarms and the key issues, challenges and future work of each method.
关键词:  Intelligent swarm, cooperative control, communication, task assignment, bio-inspired methods, distributed sensor fusion, reinforcement learning
DOI:https://doi.org/10.1007/s11768-020-9195-1
基金项目:This work was supported by National Natural Science Foundation of China (No. 61803383).
Cooperative control and communication of intelligent swarms: a survey
Kun HOU,Yajun YANG,Xuerong YANG,Jiazhe LAI
(Department of Aerospace Science and Technology, University of Aerospace Engineering, Beijing 101416, China;School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou Guangdong 510275, China)
Abstract:
Individuals exchange information, experience and strategy based on communication. Communication is the basis for individuals to form swarms and the bridge of swarms to realize cooperative control. In this paper, the multi-robot swarm and its cooperative control and communication methods are reviewed, and we summarize these methods from the task, control, and perception levels. Based on the research, the cooperative control and communication methods of intelligent swarms are divided into the following four categories: task assignment based methods (divided into market-based methods and alliance based methods), bio-inspired methods (divided into biochemical information inspired methods, vision based methods and self-organization based methods), distributed sensor fusion and reinforcement learning based methods, and we briefly define each method and introduce its basic ideas. Based on WOS database, we divide the development of each method into several stages according to the time distribution of the literature, and outline the main research content of each stage. Finally, we discuss the communication problems of intelligent swarms and the key issues, challenges and future work of each method.
Key words:  Intelligent swarm, cooperative control, communication, task assignment, bio-inspired methods, distributed sensor fusion, reinforcement learning