论文标题
多代理系统的分布式单纯形架构
A Distributed Simplex Architecture for Multi-Agent Systems
论文作者
论文摘要
我们提出了分布式单纯架构（DSA），这是一种新的运行时保证技术，可为多机构系统（MASS）提供安全保证。 DSA的灵感来自Sha等人的单纯形控制体系结构，但存在一些显着差异。传统的单纯形方法仅限于单一代理系统或具有集中控制方案的MAS。 DSA通过扩展单纯形的范围以在分布式控制下包括质量来解决此限制。在DSA中，每个代理都有一个当地的传统简称实例，因此在本地实例中保留安全性意味着整个MAS的安全性。我们为DSA提供了安全证明，并为几个案例研究提供了实验结果，包括避免碰撞的蜂拥而至，地面流浪者的安全导航以及微电网的安全操作。
We present Distributed Simplex Architecture (DSA), a new runtime assurance technique that provides safety guarantees for multi-agent systems (MASs). DSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. The traditional Simplex approach is limited to single-agent systems or a MAS with a centralized control scheme. DSA addresses this limitation by extending the scope of Simplex to include MASs under distributed control. In DSA, each agent has a local instance of traditional Simplex such that the preservation of safety in the local instances implies safety for the entire MAS. We provide a proof of safety for DSA, and present experimental results for several case studies, including flocking with collision avoidance, safe navigation of ground rovers through way-points, and the safe operation of a microgrid.
