多智能體系統(tǒng)的分布式協(xié)同定位方法研究綜述

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中圖分類號：TP212.9;TP242.6 文獻標識碼：A

Abstract：Distributed cooperative localization is a key process in many cooperative tasks for multiagent systems. Distributed cooperative localization aims to enable each agent to determine their own locations by using the available locations of anchors， the relative measurements to their neighbors，and the distributed network communication. This paper summarizes the advances in the distributed cooperative localization for multi-agent systems. First，according to the types of relative measurements，the distributed cooperative localization methods are classified into three types，i.e.，distance-based，bearing-based，and mixed-measurement-based distributed cooperative localization methods. Then，by characterizing the constraint relationship between the measurement and the agents’locations，the design schemes of the above distributed cooperative localization methods are elaborated in detail，and the advantages and disadvantages of the methods are compared. Moreover， this paper introduces the research status of reliable distributed cooperative localization methods for multi-agent systems with malicious measurements. Finally，the ongoing challenges in distributed cooperative localization are anticipated，and the potential directions for resolution are proposed.

Keywords： multi-agent system; distributed cooperative localization; measurement;reliability

0 引言

隨著自動控制、計算機、人工智能等領域的飛速發(fā)展，實際生產(chǎn)制造與理論研究中所聚焦的對象逐漸從簡單的、獨立的單點系統(tǒng)過渡到智能的、協(xié)同的多元系統(tǒng)。（剩余27368字）