发表机构
Institute for Dynamic Systems and Control, ETH Zurich; Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne（动态系统与控制研究所，苏黎世联邦理工学院; 机械工程研究所，洛桑联邦理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究多移动机器人应用中通信拓扑时变问题，提出基于局部通信的分布式控制算法，靠距离邻居定义和预测轨迹契约，有效支持智能体随时加入或离开，保证避碰和约束满足。
AI 中文摘要
许多移动多机器人应用中的一个核心挑战是通信拓扑本质上是时变的。智能体可能进入或离开网络，且此类变化通常无法事先限制。本文介绍一种基于局部通信的分布式多智能体控制算法，支持智能体在无集中协调情况下随时加入和离开通信网络。该方法通过基于距离的邻居定义和从预测轨迹导出的契约有效地随智能体数量扩展。由此产生的契约约束保证了避碰和约束满足。我们在自主多智能体驾驶场景中验证了所提出的方法，在模拟和实际实验中都证明了在高速、动态环境中，当智能体沿相反方向移动时能有效避碰。
英文摘要
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cannot generally be restricted a priori. This work introduces a distributed multi-agent control algorithm based on local communication that supports anytime agent joining and leaving the communication network without centralized coordination. The method scales efficiently with the number of agents by relying on a distance-based neighbor definition and on contracts derived from predicted trajectories. The resulting contract constraints guarantee collision avoidance and constraint satisfaction. We validate the proposed method in an autonomous multi-agent driving scenario, demonstrating effective collision avoidance in high-speed, dynamic environments with agents moving in opposite directions, in both simulated and real-world experiments.
