Leader follower multi-agents network with discrete-time rendezvous via swarm social system strategies
Yunzhong Song, Zhao Wei · Chinese Control Conference · 2012
In order to touch upon the rendezvous problems of leader follower multi-agents system with discrete time, three different kinds of strategies, namely the democracy strategy, the autarchy strategy as well as the mixed strategy were suggested based on the social system of the swarm of the multi-agents system, whereas the last strategy was composed of the democracy one and the autarchy one. It was found that among this arena, agents were finally divided into four different categories, that they were the agent where they represented the targeted object, the leader agents where they played the leading roles and the following agents where they had some connections with the leader ones and the follower agents where they were failed in connection with the leader ones, i.e. the isolated following agents. It was assumed that only the leader agents were capable of knowing the details of the global task, which was to come to the same targeted object, for the follower agents, if they were kept connected with the corresponding leader ones, they could also realize the rendezvous task in indirect ways. Results demonstrated that, the democracy strategy could fulfill the rendezvous task in an easiest way in expenses with a long convergent time and the autocracy democracy could come to the targeted object quickly with the cost of the risk of failing in completing the rendezvous task of the isolated follower agents, while the mixed strategy cared about both of the convergent speed and the utmost task, would take autocracy strategy when the connections were available for the follower agents to the leader ones, and the democracy rules had to be used when the connection to the leader agents was not possible. Compared with the first order model, the controlled variable of the second order contained a velocity variable, which made the vibration amplitude of the trajectory change remarkably, and the isolated following agents start moving under the influence of their own velocity. The models structure were provided to elucidate the specifications of the three strategies and they were explained even further with simulation work under the leader follower agent network which consisted of 4 leader agents and 5 follower agents.