关键词: 多智能体, 多领导者, K-means, 编队控制, 分簇方法

Abstract:

Three K-means clustering algorithms are proposed to prevent chaos in the formation of a multi-agent system (MAS) with multiple leaders. The algorithm divides the cluster into communities with the same number of leaders, and the agents within the community will follow the same leader. Among the three proposed algorithms, algorithm #1 is suitable for scenarios with widely distributed agents wherein rapid consensus can be achieved in the shortest time; algorithm #2 is suitable for scenarios with a sparse agent distribution and effectively prevented agent collisions; and algorithm #3 exhibits rapid convergence and considerably reduces the MAS control cost, but will sacrifice the convergence speed of the system.. Unlike the traditional method in which the agents are numbered and the leader-follower relationship is fixed, the proposed clustering methods can shorten the MAS convergence time and effectively adapt to task changes by rapidly assigning new suitable tasks to agents.

Key words: multi-agent, multiple leaders, K-means, pinning control, clustering methods