同步多智能体系统的弹性
Resilience of a synchronized multi-agent system
摘要：
容错对于无人驾驶汽车越来越重要。例如，在多机器人系统中，智能体需要能够有效地检测和容忍内部故障，以便在不需要立即人工干预的情况下继续执行任务。系统必须对计划外事件做出反应，以优化机器人之间的任务分配。从广义上讲，系统的弹性可以定义为在受到干扰时保持或恢复稳定状态的能力，它与工业系统中的鲁棒性概念有关。在本文中，我们研究的弹性同步多机器人系统如下所述：考虑一队的$n$（地面或空中）机器人每个移动沿预定的周期性封闭轨迹。每个代理都需要将其操作信息传达给其他代理，但通信链路的范围有限。因此，当两个代理在通信范围内时，建立通信链路，并且交换信息。因此，如果两个邻居同时访问通信链路，则它们是同步的，并且如果每对邻居是同步的，则多机器人系统被称为同步的。如果一组机器人离开了系统，那么一些轨迹没有机器人。在这些情况下，当一个活着的机器人检测到没有相邻的机器人，然后它通过这个相邻的轨迹承担无人值守的任务。在这个框架中，引入了一个容错措施：系统的弹性是执行全局任务时可能失败的机器人的最大数量。有趣的组合特性的弹性，允许知道它的值为一些常见的情况。
英文摘要：
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. The system must react to unplanned events in order to optimize the task allocation between the robots. In a broad sense, the resilience of a system can be defined as the ability to maintain or recover a stable state when subject to disturbance and it is related to the concept of robustness in industrial systems. In this paper, we study the resilience in a synchronized multi-robot system stated as follows:Consider a team of $n$ (ground or aerial) robots each moving along predetermined periodic closed trajectories. Each of the agents needs to communicate informationabout its operation to other agents, but the communication links have a limited range. Hence, when two agents are within communication range, a communication link is established, and information is exchanged. Thus, two neighbors are synchronized if they visit the communication link at the same time and a multi-robot system is called synchronized if each pair of neighbors is synchronized. If a set of robots left the system, then some trajectories has no robots. In these cases, when an alive robot detects no neighboring robot then it pass to this neighboring trajectory to assume the unattended task. In this framework, a fault-tolerance measure is introduced: the resilience of the system is the largest number of robots that can fail while executing the global task. Interesting combinatorial properties of the resilience are showed that allow to know its value for some usual scenarios.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
