论文标题
人类释放系统的规模不变规范
Scale-Invariant Specifications for Human-Swarm Systems
论文作者
论文摘要
我们提出了一种使用其光谱分解来控制群的方法 - 也就是说,通过描述整个操作域中的空间分布的群的轨迹集 - 保证了相对于计算代理的规模不变性以及用于控制SWARM的操作员的数量。我们使用在整个网络中分散的Ergodic Control进行实施。在DARPA偏移程序字段设置中,我们使用Stomp界面为操作员测试此接口设计 - 与雷神BBN在偏移程序的整个过程中使用的接口相同。在这些测试中,我们证明了我们的方法是规模不变的 - 用户规范不取决于代理的数量;它是持久的 - 规范在用户指定新命令之前保持活动状态。这是实时的 - 用户可以随时与群体进行交互并中断。此外,我们表明,随着代理的数量降低,群体行为的光谱/颈性规范会优雅地降低,从而使操作员能够在禁用代理或添加到网络中保持相同的方法。我们在各种战术场景上,在具有多达50个代理的各种战术场景上,我们在现场相关的模拟器中演示了系统的规模不变和动态响应。我们还与较小的代理团队一起演示了该系统在该领域的动态响应。最后,我们为系统提供代码。
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution throughout the operational domain -- guaranteeing scale invariance with respect to the number of agents both for computation and for the operator tasked with controlling the swarm. We use ergodic control, decentralized across the network, for implementation. In the DARPA OFFSET program field setting, we test this interface design for the operator using the STOMP interface -- the same interface used by Raytheon BBN throughout the duration of the OFFSET program. In these tests, we demonstrate that our approach is scale-invariant -- the user specification does not depend on the number of agents; it is persistent -- the specification remains active until the user specifies a new command; and it is real-time -- the user can interact with and interrupt the swarm at any time. Moreover, we show that the spectral/ergodic specification of swarm behavior degrades gracefully as the number of agents goes down, enabling the operator to maintain the same approach as agents become disabled or are added to the network. We demonstrate the scale-invariance and dynamic response of our system in a field relevant simulator on a variety of tactical scenarios with up to 50 agents. We also demonstrate the dynamic response of our system in the field with a smaller team of agents. Lastly, we make the code for our system available.