对离开未知环境的自组织代理的无形控制
Invisible control of self-organizing agents leaving unknown environments
摘要：
在本文中，我们关注的是多尺度建模，控制和模拟的自组织代理人离开一个未知的区域在有限的能见度，特别强调人群。我们首先介绍了一个新的微观模型，其特征在于一个探索阶段和疏散阶段。该模型的主要成分是一个对齐项，占典型的不确定行为的羊群效应，和一个随机游动，占有限的能见度下，探索环境的需要。我们考虑度量和拓扑相互作用。此外，少数特工，领导者，不承认这样的人群，是“隐藏”在人群中的一个特殊的控制动态。接下来，依靠玻尔兹曼方法，我们推导出一个介观模型的连续密度的追随者，再加上微观描述的领导者的动态。最后研究了人群的最优控制。它被认为是领导者利用羊群效应，以引导人群走向出口，减少堵塞。计算领导者的局部最优行为。数值模拟表明，在微观和介观设置的最优化方法的效率。我们还进行了一个真实的实验，研究所提出的自下而上的人群控制技术的可行性。
英文摘要：
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model characterized by an exploration phase and an evacuation phase. The main ingredients of the model are an alignment term, accounting for the herding effect typical of uncertain behavior, and a random walk, accounting for the need to explore the environment under limited visibility. We consider both metrical and topological interactions. Moreover, a few special agents, the leaders, not recognized as such by the crowd, are "hidden" in the crowd with a special controlled dynamics. Next, relying on a Boltzmann approach, we derive a mesoscopic model for a continuum density of followers, coupled with a microscopic description for the leaders' dynamics. Finally, optimal control of the crowd is studied. It is assumed that leaders exploit the herding effect in order to steer the crowd towards the exits and reduce clogging. Locally-optimal behavior of leaders is computed. Numerical simulations show the efficiency of the optimization methods in both microscopic and mesoscopic settings. We also perform a real experiment with people to study the feasibility of the proposed bottom-up crowd control technique.
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