耦合多智能体系统中的协作利他安全
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
AI总结：
本文提出一种基于协作控制屏障函数的框架，通过协作控制确保动态耦合多智能体系统的安全性，利用哈密顿规则定义利他安全条件，提升系统整体安全性和鲁棒性。
摘要：
本文提出了一种新颖的框架，通过协作控制确保动态耦合多智能体系统的安全性。受生态利他主义模型的启发，我们开发了协作控制屏障函数，使智能体能够在耦合动态下协同执行个体安全约束。我们基于所谓的哈密顿规则引入了利他安全条件，使智能体能够权衡自身安全以支持优先级更高的邻居。通过将这些条件整合到分布式优化框架中，我们展示了在简化编队控制场景中的仿真效果，证明了该方法在保持系统整体安全性方面的可行性与鲁棒性。
英文摘要：
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of altruism, we develop collaborative control barrier functions that allow agents to cooperatively enforce individual safety constraints under coupling dynamics. We introduce an altruistic safety condition based on the so-called Hamilton's rule, enabling agents to trade off their own safety to support higher-priority neighbors. By incorporating these conditions into a distributed optimization framework, we demonstrate increased feasibility and robustness in maintaining system-wide safety. The effectiveness of the proposed approach is illustrated through simulation in a simplified formation control scenario.
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。
