仿生集体决策的实现理论
A Realization Theory for Bio-inspired Collective Decision-Making
摘要：
动物群体所表现出的集体决策为多智能体控制系统设计提供了巨大的灵感，因为它体现了工程网络中所需的几个功能，包括鲁棒性和适应性，低计算工作量，以及固有的分散架构。然而，许多集体决策的机械模型是在人口级抽象描述的，在工程系统中实现是具有挑战性的。我们开发了简单且易于实现的意见动态模型，实现了经验观察到的集体决策行为以及现有动物群体模型预测的行为。利用李雅普诺夫分析，奇异性理论和单调动力系统的方法，我们严格研究我们的模型的稳态决策行为。
英文摘要：
The collective decision-making exhibited by animal groups provides enormous inspiration for multi-agent control system design as it embodies several features that are desirable in engineered networks, including robustness and adaptability, low computational effort, and an intrinsically decentralized architecture. However, many of the mechanistic models for collective decision-making are described at the population-level abstraction and are challenging to implement in an engineered system. We develop simple and easy-to-implement models of opinion dynamics that realize the empirically observed collective decision-making behavior as well as the behavior predicted by existing models of animal groups. Using methods from Lyapunov analysis, singularity theory, and monotone dynamical systems, we rigorously investigate the steady-state decision-making behavior of our models.
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