外观
论文arXiv 2610.2219813 天前
通过基于可达性的控制屏障函数实现带预防式通信的鲁棒多智能体追捕
原文链接：Robust Multi-Agent Pursuit with Preemptive Communication via Reachability-Based Control Barrier Functions（arXiv 2610.22198 · 发布日期：2026-10-15）
Robust Multi-Agent Pursuit with Preemptive Communication via Reachability-Based Control Barrier Functions
针对间歇通信下多智能体安全追捕，提出统一控制/通信策略，并在追逃仿真中验证零碰撞与减通信。
核心要点
- 现实部署机器人难以持续、完美共享状态，安全协同需兼顾鲁棒控制与鲁棒通信。
- 各智能体用最后接收状态估计邻居可达集，并通过控制屏障函数求安全控制输入。
- 证明通信陈旧度有界时可保证智能体间避碰，并用不确定性与运动学风险指标触发预防发送。
- 在多种追逃仿真中，相比周期和事件触发基线，消息减少77.5%且零碰撞。
验证范围与局限：验证范围为多种追逃仿真场景，摘要未报告真机实验。
英文摘要 (Abstract)
Safe multi-agent coordination typically assumes what real-world, deployed, resource-constrained robots cannot provide: continuous, perfect state sharing. Robust control strategies must be complemented with robust communication strategies to deliver resilient deployments. In this work, we propose a unified control/communication strategy that provides safe control to guarantee inter-agent safety under intermittent communication and demonstrate its effectiveness in a pursuit-evasion scenario. Each agent computes the reachable set of neighboring agents based on the last state information received, then solves for a safe control input based on control barrier functions to ensure agents avoid collision. We prove that inter-agent collision avoidance is guaranteed provided communication staleness remains bounded. As the reachable set inflates between state transmissions, each agent reasons about when to preemptively transmit its state information to neighboring agents based on novel metrics characterizing uncertainty risk and kinematic risk. We implement and simulate a variety of pursuit-evasion scenarios and show that preemptive communication reduces messages by 77.5% compared to periodic and event-triggered baselines with zero collisions.
作者：Madison Book, Justin M. Bradley
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