基于信任的非协作多Agent系统速率可调控制Barrier Functions
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
摘要：
为了在多智能体系统中有效和鲁棒地完成任务，智能体必须能够区分合作智能体和非合作智能体，即，不合作和敌对的代理人。捕获安全和协作的任务描述通常可以编码为控制屏障功能（CBF）。在这项工作中，我们首先开发了一个信任度量，每个代理使用它来形成自己的信念如何合作的其他代理。该度量用于调整CBF允许系统轨迹接近安全区域边界的速率。然后，基于所提出的信任的概念，我们提出了一个速率可调CBF框架，导致不太保守的性能相比，一个身份不可知的实现，其中合作和非合作代理人被视为类似。最后，在存在非合作的代理，我们展示了我们的控制算法的异构多代理系统通过模拟的应用。
英文摘要：
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and collaboration can often be encoded as Control Barrier Functions (CBFs). In this work, we first develop a trust metric that each agent uses to form its own belief of how cooperative other agents are. The metric is used to adjust the rate at which the CBFs allow the system trajectories to approach the boundaries of the safe region. Then, based on the presented notion of trust, we propose a Rate-Tunable CBF framework that leads to less conservative performance compared to an identity-agnostic implementation, where cooperative and non-cooperative agents are treated similarly. Finally, in presence of non-cooperating agents, we show the application of our control algorithm to heterogeneous multi-agent system through simulations.
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