异源性在自主周界防御问题中的作用
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
摘要：
自主机器人团队组成的异质性在什么时候是有益的，什么时候是有害的？我们调查和回答这个问题的背景下，一个最低限度的可行模型，探讨在周边防御问题，防御者共享总分配的速度预算的异构速度的作用。我们考虑两个不同的问题设置和动态规划和当地的互动规则的基础上制定战略。我们提出了一个理论分析，这两种方法和我们的结果进行了广泛的验证，使用模拟。有趣的是，我们的研究结果表明，异质团队的生存能力取决于防御者可用的信息量。此外，我们的研究结果表明一个普遍性的属性：在广泛的问题参数的最佳比例的速度的后卫保持几乎恒定。
英文摘要：
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.
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