通用部分全局规划方法在多智能体协调控制中的应用

针对多智能体系统分布式问题建立了智能体的简单模型，并对其进行了形式化描述，提出了多智能体系统的一种协调算法，即通用部分全局规划算法．在该协调算法的作用下，多智能体系统中各个智能体的局部规划／协调器对各自的行为进行规划，从而使整个系统相互协作，共同完成系统的全局任务．因此，它是一种全局协调算法．该算法并不局限于某个具体的应用领域，具有一定的通用性．

Application of Generalized Partial Global Planning Algorithm in Multi-Agent Coordination Control

On the background of distributed problem solving, a simple agent model was built and formalized, also a multi agent coordination method GPGP (Generalized Partial Global Planning) was put forward. With this algorithm and each agent's local scheduler/coordinator, the whole multi agent system worked harmonically and a global goal may be achieved. The algorithm is independent of special domain, so it can be generalized in common use.