As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication ...As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.展开更多
为了满足固沙机功能集成化、智能化方向发展需求,设计了一种智能草沙障固沙机控制系统,采用主从式控制系统结构,以双Arduino Mega 2560为核心主控器,使用模块化对控制系统的硬件和软件进行设计;纵向铺设控制模块、底盘升降控制模块和播...为了满足固沙机功能集成化、智能化方向发展需求,设计了一种智能草沙障固沙机控制系统,采用主从式控制系统结构,以双Arduino Mega 2560为核心主控器,使用模块化对控制系统的硬件和软件进行设计;纵向铺设控制模块、底盘升降控制模块和播种控制模块采用增量式PID控制算法;横向铺设控制模块采用位置式PID控制算法,并结合YOLOv3实现草沙障的检测追踪;以触摸屏和基于蓝牙的固沙机控制Android APP为人机交互界面。控制系统试验结果表明:基于PID算法检测追踪方式与直插式铺设方式相比,采用检测追踪方式固沙机的横向犁沙宽度减小了78.7%,整车振动减小了42.6%,草沙障铺设和播种测试功能均达到样机设计预期,为智能化固沙机研究提供了一种切实可行的设计方案。展开更多
文摘As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.
文摘为了满足固沙机功能集成化、智能化方向发展需求,设计了一种智能草沙障固沙机控制系统,采用主从式控制系统结构,以双Arduino Mega 2560为核心主控器,使用模块化对控制系统的硬件和软件进行设计;纵向铺设控制模块、底盘升降控制模块和播种控制模块采用增量式PID控制算法;横向铺设控制模块采用位置式PID控制算法,并结合YOLOv3实现草沙障的检测追踪;以触摸屏和基于蓝牙的固沙机控制Android APP为人机交互界面。控制系统试验结果表明:基于PID算法检测追踪方式与直插式铺设方式相比,采用检测追踪方式固沙机的横向犁沙宽度减小了78.7%,整车振动减小了42.6%,草沙障铺设和播种测试功能均达到样机设计预期,为智能化固沙机研究提供了一种切实可行的设计方案。
