학술논문
Distributed Cooperative Decision-Making of Cross-Domain Swarm
Document Type
Conference
Source
2023 China Automation Congress (CAC) Automation Congress (CAC), 2023 China. :1418-1423 Nov, 2023
Subject
Language
ISSN
2688-0938
Abstract
This paper investigates a cooperative decision-making problem of the cross-domain swarm system involving unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs). Different from the distributed optimization of multi-agent systems, the cooperative decision-making problem considers the payoff functions that depend on the states of all agents. Each agent can only adjust its own state. To address the cooperative decision-making problem, a two-time scale system is constructed, where the fast model includes an average consensus for gradient estimation of the global function and the slow model incorporates a feedback control of all USVs and UAVs. By the Lyapunov analysis, the optimal solution is globally exponentially stable. Finally, a cooperative encirclement task is utilized to verify the effectiveness of the proposed algorithm.