论文标题
具有最佳运输的多代理形状控制
Multi-Agent Shape Control with Optimal Transport
论文作者
论文摘要
我们引入了一种称为吉祥物（具有最佳传输的多代理形状控制）的方法，以计算具有形状/形成/密度约束的剂的最佳控制溶液。例如，我们可能希望在代理商上应用形状约束 - 也许我们希望代理人沿着路径保持特定的形状，或者我们希望代理商分散，以最大程度地减少碰撞。我们可能还希望一定比例的代理移至一个目的地，而其他代理人则移至另一个目的地，并以最佳的方式进行此操作，即源用途分配应该是最佳的。为了实现这一目标，我们利用地球移动器从最佳传输的距离将代理分配到适当的位置，以便可以满足某些形状。该成本都以终端成本以及最佳控制问题的运行成本引入。
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the agents -- perhaps we desire the agents to hold a particular shape along the path, or we want agents to spread out in order to minimize collisions. We might also want a proportion of agents to move to one destination, while the other agents move to another, and to do this in the optimal way, i.e. the source-destination assignments should be optimal. In order to achieve this, we utilize the Earth Mover's Distance from Optimal Transport to distribute the agents into their proper positions so that certain shapes can be satisfied. This cost is both introduced in the terminal cost and in the running cost of the optimal control problem.
