论文标题
基于信任的速率可调控制障碍功能，用于非合件多代理系统
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
论文作者
论文摘要
为了在多代理系统中有效且健壮的任务完成，代理必须能够将合作社与非合作剂（即不合作和对抗性剂）区分开。捕获安全性和协作的任务说明通常可以用作控制障碍功能（CBF）。在这项工作中，我们首先开发了一个信任度量标准，每个代理商都用来形成自己对其他代理商合作的信念。指标用于调整CBF允许系统轨迹接近安全区域边界的速率。然后，基于提出的信任概念，我们提出了一个可调用的CBF框架，该框架与身份不足的实施相比，导致保守性较低，在这种实施情况下，合作和非合作剂的处理方式类似。最后，在存在非合作剂的情况下，我们通过仿真显示了控制算法在异质多代理系统中的应用。
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.
