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摘要翻译：
本文提出了一种基于随机最优控制(SOC)理论的无人飞行器编队控制新方法。该方法包括一个集中的高层规划器和一个特定于平台的底层控制器，前者计算最优状态轨迹作为速度序列，后者确保满足这些速度序列。将规划任务表示为一个集中式路径积分控制问题，其最优控制计算对应于一个概率推理问题，可以通过有效的采样方法求解。仿真结果表明：与确定性控制方法和其它SOC方法相比，本文提出的SOC方法在多模态噪声相关最优解问题中具有显著优势；(b)能够实时控制大量平台；(c)以飞行编队的形式产生集体紧急行为。最后，我们通过在室外条件下控制一个由三个四分机组成的团队来证明我们的方法在实际平台上是有效的。
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英文标题：
《Real-Time Stochastic Optimal Control for Multi-agent Quadrotor Systems》
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作者：
Vicen\c{c} G\'omez, Sep Thijssen, Andrew Symington, Stephen Hailes,
and Hilbert J. Kappen
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最新提交年份：
2020
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分类信息：
一级分类：Electrical Engineering and Systems Science 电气工程与系统科学
二级分类：Systems and Control 系统与控制
分类描述：This section includes theoretical and experimental research covering all facets of automatic control systems. The section is focused on methods of control system analysis and design using tools of modeling, simulation and optimization. Specific areas of research include nonlinear, distributed, adaptive, stochastic and robust control in addition to hybrid and discrete event systems. Application areas include automotive and aerospace control systems, network control, biological systems, multiagent and cooperative control, robotics, reinforcement learning, sensor networks, control of cyber-physical and energy-related systems, and control of computing systems.
本部分包括理论和实验研究，涵盖了自动控制系统的各个方面。本节主要介绍利用建模、仿真和优化工具进行控制系统分析和设计的方法。具体研究领域包括非线性、分布式、自适应、随机和鲁棒控制，以及混合和离散事件系统。应用领域包括汽车和航空航天控制系统、网络控制、生物系统、多智能体和协作控制、机器人学、强化学习、传感器网络、信息物理和能源相关系统的控制以及计算系统的控制。
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一级分类：Computer Science 计算机科学
二级分类：Multiagent Systems 多智能体系统
分类描述：Covers multiagent systems, distributed artificial intelligence, intelligent agents, coordinated interactions. and practical applications. Roughly covers ACM Subject Class I.2.11.
涵盖多Agent系统、分布式人工智能、智能Agent、协调交互。和实际应用。大致涵盖ACM科目I.2.11类。
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一级分类：Computer Science 计算机科学
二级分类：Robotics 机器人学
分类描述：Roughly includes material in ACM Subject Class I.2.9.
大致包括ACM科目I.2.9类的材料。
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一级分类：Computer Science 计算机科学
二级分类：Systems and Control 系统与控制
分类描述：cs.SY is an alias for eess.SY. This section includes theoretical and experimental research covering all facets of automatic control systems. The section is focused on methods of control system analysis and design using tools of modeling, simulation and optimization. Specific areas of research include nonlinear, distributed, adaptive, stochastic and robust control in addition to hybrid and discrete event systems. Application areas include automotive and aerospace control systems, network control, biological systems, multiagent and cooperative control, robotics, reinforcement learning, sensor networks, control of cyber-physical and energy-related systems, and control of computing systems.
cs.sy是eess.sy的别名。本部分包括理论和实验研究，涵盖了自动控制系统的各个方面。本节主要介绍利用建模、仿真和优化工具进行控制系统分析和设计的方法。具体研究领域包括非线性、分布式、自适应、随机和鲁棒控制，以及混合和离散事件系统。应用领域包括汽车和航空航天控制系统、网络控制、生物系统、多智能体和协作控制、机器人学、强化学习、传感器网络、信息物理和能源相关系统的控制以及计算系统的控制。
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英文摘要：
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as velocity sequences, and a platform-specific low-level controller which ensures that these velocity sequences are met. The planning task is expressed as a centralized path-integral control problem, for which optimal control computation corresponds to a probabilistic inference problem that can be solved by efficient sampling methods. Through simulation we show that our SOC approach (a) has significant benefits compared to deterministic control and other SOC methods in multimodal problems with noise-dependent optimal solutions, (b) is capable of controlling a large number of platforms in real-time, and (c) yields collective emergent behaviour in the form of flight formations. Finally, we show that our approach works for real platforms, by controlling a team of three quadrotors in outdoor conditions.
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PDF链接：
https://arxiv.org/pdf/1502.04548
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