CN109325690A - Unmanned platform command control oriented policy game system and application method thereof - Google Patents

Unmanned platform command control oriented policy game system and application method thereof Download PDF

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CN109325690A
CN109325690A CN201811123247.7A CN201811123247A CN109325690A CN 109325690 A CN109325690 A CN 109325690A CN 201811123247 A CN201811123247 A CN 201811123247A CN 109325690 A CN109325690 A CN 109325690A
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game
strategy
tactful
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unmanned plane
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张万鹏
杨震
魏占阳
张煜
刘鸿福
彭颖毅
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National University of Defense Technology
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National University of Defense Technology
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Abstract

The invention relates to an unmanned platform control technology, and discloses a strategy game system for unmanned platform command control, which helps planners to quickly make unmanned plane command control decisions through a turn game making mode. The system comprises an unmanned platform and a strategy game system, wherein the strategy game system is used for extracting available unmanned aerial vehicle combat strategies in a turn game making mode, performing game decision analysis and forming a confrontation type game line; the unmanned platform provides simulation of the extracted unmanned aerial vehicle combat strategy, generates an unmanned aerial vehicle mission planning scheme according to the countermeasure type game line, and controls the unmanned aerial vehicle to execute corresponding action instructions according to the unmanned aerial vehicle mission planning scheme. In addition, the invention also discloses an application method of the system, which plays a great role in the pre-war operational decision and the command confrontation of the commander during the battle.

Description

Tactful game playing system and its application method towards unmanned platform command and control
Technical field
The present invention relates to unmanned platform courses technologies, and in particular to a kind of tactful game towards unmanned platform command and control System and its application method.
Background technique
With the arrival of the fourth industrial revolution, the mankind will be made to enter the unmanned plane epoch, to unmanned plane task grouping Urgent need it is growing.Unmanned plane can complete the multiple-task of military and civilian's application field extensively, have become each flourishing state at present The Strategic Technology highland that family must strive.Ensure unmanned plane in complex environment effectively, the reliable crucial problem for executing task first is that The decision-making technic of unmanned plane, this is the basis of unmanned plane mission planning accuracy simultaneously.
Game is ubiquitous, and when people are to reach an agreement or solve conflict and interact with one another, game is just had occurred.One Field game needs more than two participants, and each participant makes a response to other people action or each participant It can consider how other people can react.Participant should look forward to the prospect the action in future in game, then retrodict out current optimal row Dynamic, this is the General Principle of strategy.
Existing game focuses on the interaction studied between man-machine or machine and machine, and it is diplomatic to show as two participants The game successively taken action in turn, such as Tic-tac-toe, Chinese checkers, chess.In game, first according to known strategy and participation Then life determines backstepping equilibrium result and the balance policy of participant by backstepping method at game theory.General basis is current The strategy of participant's selection, computer provide optimal countermeasure automatically, guarantee to search out optimal solution in gambling process.
The emergency case that correctly processing unmanned plane occurs during execution task in time is required in unmanned mission planning, If planning personnel can be helped quickly to carry out decision by tactful game applications in unmanned platform command and control.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of tactful game playing system towards unmanned platform command and control and its Application method helps planning personnel quickly to carry out unmanned plane command and control decision by turn-based game mode.
It is used for multi-person synergy based game operations under strategy or the unfixed situation of personnel, improves the subjective initiative of participant Property, adapt to various uncertain factors in gambling process.
The present invention solve above-mentioned technical problem the technical solution adopted is that:
Tactful game playing system towards unmanned platform command and control, including unmanned platform and tactful game playing system,
The strategy game playing system is used to extract available unmanned plane battle tactics by turn-based game mode, is won Analysis of Policy Making is played chess, and forms confrontation type game line;
The unmanned platform provides the emulation to the unmanned plane battle tactics of extraction, and is generated according to confrontation type game line Unmanned plane mission planning scheme controls unmanned plane according to unmanned plane mission planning scheme and executes corresponding actions instruction;
The strategy game playing system includes web terminal, background service and database;Lead between the web terminal and background service It crosses http request and webSocket information communication mechanism interacts;The background service connects nobody by messaging bus and puts down Platform;The database provides data supporting for background service;The unmanned platform includes unmanned vehicle, wireless data transmission list Member and ground command system;The ground command system between wireless data transmission unit and unmanned vehicle by being handed over Mutually.
As advanced optimizing, the ground command system includes:
Auxiliary Control Element, mission planning unit and policy instructions decoder;
The policy instructions decoder, the unmanned plane battle tactics for extracting to tactful game playing system are decoded point Analysis, submits to mission planning unit;
The mission planning unit, the unmanned plane battle tactics after Decoding Analysis for being submitted to tactful instruction decoder Unmanned plane emulation is carried out, simulation result submits to tactful game playing system and carries out game decision-making analysis for it, is receiving tactful game Unmanned plane mission planning scheme is generated after the confrontation type game line that system generates and sends, and submits to Auxiliary Control Element;
The Auxiliary Control Element, the unmanned plane mission planning scheme for being sent according to mission planning unit control nobody Machine executes corresponding actions instruction.
As advanced optimizing, the game decision-making analysis includes according to unmanned platform emulation result and expert analysis mode result Carry out game decision-making.
In addition, the present invention also provides the application method of the above-mentioned tactful game playing system towards unmanned platform command and control, Itself the following steps are included:
A. game initializes;
B. in gambling process, game side alternately goes out strategy, submits to unmanned plane mission planning platform and is emulated;
C. Analysis of Policy Making is carried out to the strategy that game side goes out using simulation result;
D. game line is generated according to gambling process;
E. unmanned plane programme is generated according to game line.
As advanced optimizing, in step a, the game initialization includes:
Prepare standardized unmanned plane battle tactics library, map file led according to the creation game of standardized policy library, It is described to lead map file conversation strategy in the form of mind map, it may select for the policy library of this game in game, Participant can dynamically replace file in gambling process, the place to adjust gambling process, when enhancing service logic changes Reason ability;
Scenario information is set, and has divided game role, game user divides 3 kinds of roles: participant, surrounds and watches arbiter Person;Arbiter integrally controls gambling process, including whom is specified play a card, whether effectively current pass is decided, adds plan for participant Summary and decision point;Participate in artificial individual or group;In group, there is a group leader, as participant, other artificial group members, As onlooker;Group leader may specify, withdraw or switch out strategy/tactful centralization of state power, group member is allowed to be added, exit or kick out of group member; Group member can apply playing a card or releasing strategy/tactful centralization of state power, and application is exited, theme is added;But group member only opens in game Just allow that theme is added after beginning;
Game room is created, game divides multilateral Game and one-person game.
As advanced optimizing, the game line, that is, game theory, wherein mainly including decision point, bout, strategy and plan Slightly collect element;Bout is expressed as game theory interior joint, has precedence relationship between bout, set membership is shown as in tree;In addition it determines Plan point is also expressed as node, and branch is indicated at decision point;The child node of bout is set of strategies, and set of strategies is the group for strategy It closes, the set of strategies of each bout is expressed as one tree;
The organizational form of entire game line is the nested tree-like formula of tree:
First layer tree construction is made of bout and decision point, is game line primary structure;
Second layer tree construction is made of bout and set of strategies, and each bout exists under one or more set of strategies section Point, again comprising several strategies in set of strategies.
As advanced optimizing, in step b, only it temporary can just go out strategy when user obtains game-theoretic control;Going out strategy Before, it is necessary first to a set of strategies is created, then the exhibition strategy in set of strategies, does not allow to occur in the same set of strategies identical Strategy;Game-theoretic control power can be assigned to some participant by arbiter, or circuit sequentially acquisition;
Game branch is generated by decision point, when arbiter adds decision, each side's addition for the game participant that allows to be the theme Decision point, and multiple decision points can be gone out, when arbiter is appointed as which side participant addition decision point, then control of playing a card is corresponding It is handed over to corresponding participant, by the way that branch can be increased in decision point after increasing decision point.
As advanced optimizing, the game side is pushed away when going out strategy using the strategy reply on tactful game playing system backstage The strategy of service recommendation is recommended, the strategy reply recommendation service is recommended using incidence relation reply proposed algorithm or user preference Algorithm carrys out Generalization bounds.
As advanced optimizing, the incidence relation copes with proposed algorithm and includes:
The character string in specified strategy is segmented by ansj_seg;
The keyword of specified number is calculated according to tf-idf algorithm;
Context-prediction is carried out with skip-gram model for each keyword, obtains association crucial phrase;
Associating policy is obtained by association crucial phrase, the reply as specified strategy is recommended;
When carrying out context-prediction using skip-gram model, tactful corpus is initially set up, then according to tactful language Corpus text in material library establishes corpus model, is finally instructed using three-layer neural network to corpus model according to keyword Practice, parameters all in objective function are updated using stochastic gradient rise method, are calculated using Hierarchical softmax Optimization is normalized to output layer in method, to obtain association crucial phrase.
As advanced optimizing, the user preference proposed algorithm includes:
User behavior data is collected in the scoring and frequency of playing a card omited first according to solution, and data are normalized Pretreatment is selected similar then using the similarity between euclidean formula calculative strategy using K-neighborhoods algorithm Neighbours' collection, finally concentrates from similar neighborhood and obtains user preference strategy, as Generalization bounds.
As advanced optimizing, in step c, the scoring of strategy goes out game side using simulation result combination arbiter Strategy carries out Analysis of Policy Making.
The beneficial effects of the present invention are: decision making through operations research, commander's confrontation thinking activities by commander's prewar for enemy, turn The gambling process of optimization can be assessed by becoming structuring, and auxiliary commander analyzes enemy, the strategy that we may take and bring It influences, ultimately forms the game line based on confrontation thinking, provide foundation for the design of operational design, be mainly used for management operation and think Road is served and understands task phase.Tactful game playing system is used for unmanned platform command and control for the first time by the present invention, is unmanned platform A kind of new strategic decision-making selection is provided when command and control.
In addition, recommending or using using incidence relation reply when game side of present invention during gambling process goes out strategy Family preference is recommended, and quick, the accurate recommendation of countermeasure may be implemented.
Detailed description of the invention
Fig. 1 is the tactful game playing system structural schematic diagram towards unmanned platform command and control in the embodiment of the present invention;
Fig. 2 is the application method flow chart of the tactful game playing system in the embodiment of the present invention;
Fig. 3 is game cable architecture schematic diagram.
Specific embodiment
The present invention is directed to propose a kind of tactful game playing system and its application method towards unmanned platform command and control, passes through Turn-based game mode helps planning personnel quickly to carry out unmanned plane command and control decision.In the present invention, rich by turn-based The mode of playing chess extracts available unmanned plane battle tactics, game decision-making analysis is carried out, and form confrontation type game line, then according to right Anti- formula game line generates unmanned plane programme, to carry out command and control to unmanned plane according to unmanned plane programme.
Embodiment:
As shown in Figure 1, the tactful game playing system towards unmanned platform command and control in the present embodiment, including unmanned platform With tactful game playing system,
The strategy game playing system is used to extract available unmanned plane battle tactics by turn-based game mode, is won Analysis of Policy Making is played chess, and forms confrontation type game line, the unmanned platform provides the emulation to the unmanned plane battle tactics of extraction;Root Unmanned plane mission planning scheme is generated according to confrontation type game line;Unmanned plane is controlled according to unmanned plane mission planning scheme to execute accordingly Action command;
The strategy game playing system includes web terminal, background service and database;Lead between the web terminal and background service It crosses http request and webSocket information communication mechanism interacts, the background service connects nobody by messaging bus and puts down Platform;The database provides data supporting for background service;The unmanned platform includes unmanned vehicle, wireless data transmission list Member and ground command system;The ground command system between wireless data transmission unit and unmanned vehicle by being handed over Mutually.
Specifically, the ground command system includes: Auxiliary Control Element, mission planning unit and policy instructions decoding Device;
The unmanned plane battle tactics that the policy instructions decoder is used to extract tactful game playing system are decoded analysis, Submit to mission planning unit;
Unmanned plane battle tactics after the Decoding Analysis that the mission planning unit is used to submit tactful instruction decoder Unmanned plane emulation is carried out, simulation result submits to tactful game playing system and carries out game decision-making analysis for it, is receiving tactful game Unmanned plane mission planning scheme is generated after the confrontation type game line that system generates and sends, and submits to Auxiliary Control Element;
The unmanned plane mission planning scheme that the Auxiliary Control Element is used to be sent according to mission planning unit controls nobody Machine executes corresponding actions instruction.
The application method of above system as shown in Fig. 2, comprising:
1) game initializes;
Standardized unmanned plane battle tactics library is got out, leads picture and text according to what standardized policy library created game Part leads map file conversation strategy in the form of mind map, may select for the policy library of this game in game, rich Participant can dynamically replace file during playing chess, the processing to adjust gambling process, when enhancing service logic changes Ability;
It sets scenario information and has divided game role, game user divides 3 kinds of roles: participant, surrounds and watches arbiter Person;Arbiter integrally controls gambling process, including whom is specified play a card, current pass whether effectively, for participant add strategy and Decision point;Participate in artificial individual or group;In group, there are a group leader, i.e. participant, other artificial group members surround and watch Person;Group leader may specify, withdraw, switches out strategy/tactful centralization of state power, group member is allowed to be added, exit or kick out of;Group member can apply Board releases strategy/tactful centralization of state power, and application is exited, theme is added;But group member only just allows to be added after game starts Theme;
Game room is created, game divides multi-party and one-person game.
Game line agreement explanation:
Game line, that is, game theory, wherein mainly including decision point, bout, strategy and set of strategies element;Bout is expressed as Game theory interior joint has precedence relationship between bout, set membership is shown as in tree;In addition decision point is also expressed as node, Branch is indicated at decision point;The child node of bout is set of strategies, and set of strategies is the combination for strategy, the set of strategies of each bout It is expressed as one tree;
The organizational form of entire game line is the nested tree-like formula of tree:
First layer tree construction is made of bout and decision point, is game line primary structure;
Second layer tree construction is made of bout and set of strategies, and each bout exists under one or more set of strategies section Point, again comprising several strategies in set of strategies.
Other agreements: only arbiter can create game theme, can create the theme of multiple and different purposes for correlation Personnel participate in game discussion.Arbiter can limit participation number, regulation Game Rule etc. when creating theme.Arbiter can specify The sequence of playing a card of game participant;User selects a game theme to participate in game with the identity of participant or onlooker, works as master When the participation number of topic reaches creation when designated person's number, then each participant successively carries out tactful game in turn.
2) game side goes out strategy, submits to unmanned plane mission planning platform;
Game side recycles strategy, and every one wheel of circulation becomes one bout, configured relevant policy data when tactful out, Submission is clicked after completing institute's strategy, then unmanned plane mission planning platform will receive message unmanned plane is allowed to carry out in analogue system Policy action;Only when user obtain game-theoretic control temporary just can game go out strategy.Before going out strategy, it is necessary first to create one Set of strategies, then the exhibition strategy in set of strategies, pays attention to not allowing same policy occur in the same set of strategies.Game-theoretic control Power can be assigned to certain participant by arbiter, or circuit sequentially acquisition;
Game branch, this and the unity of thinking in traditional tactful game are generated by decision point.When arbiter adds decision, Allow to be the theme each side's addition decision point of game participant, and can go out multiple decision points.Arbiter is appointed as which side participation Person adds decision point, then control of playing a card accordingly is handed over to corresponding people;By that can increase in decision point after increasing decision point Bonus point branch.
3) arbiter carries out ruling;
Arbiter, which goes out game side, carries out ruling to strategy, can score, ruling enabledisable.
4) another party carries out game, submits to unmanned plane mission planning platform;
This step is the strategy step that goes out of another game side, and specific method and step 2) are equally.
In order to improve out the efficiency and accuracy of strategy, in the present invention, after game side can be using tactful game playing system Platform strategy reply recommendation service recommend strategy, it is described strategy reply recommendation service using incidence relation reply proposed algorithm or Person's user preference proposed algorithm carrys out Generalization bounds.
Specifically, the incidence relation reply proposed algorithm includes:
The character string in specified strategy is segmented by ansj_seg (JAVA Chinese word segmentation tool);
The keyword of specified number is calculated according to tf-idf (word frequency-inverse document frequency) algorithm;
Context-prediction is carried out with skip-gram model (a kind of neural network model) for each keyword, obtains and closes Join crucial phrase;
Associating policy is obtained by association crucial phrase, the reply as specified strategy is recommended;
When carrying out context-prediction using skip-gram model, tactful corpus is initially set up, then according to tactful language Corpus text in material library establishes corpus model, is finally instructed using three-layer neural network to corpus model according to keyword Practice, parameters all in objective function are updated using stochastic gradient rise method, use Hierarchical softmax (layer Secondary normalization index) optimization is normalized to output layer in algorithm, to obtain association crucial phrase.
The user preference proposed algorithm includes:
User behavior data is collected in the scoring and frequency of playing a card omited first according to solution, and data are normalized Pretreatment uses K-neighborhoods (K closes on) algorithm then using the similarity between euclidean formula calculative strategy Similar neighborhood collection is selected, is finally concentrated from similar neighborhood and obtains user preference strategy, as Generalization bounds.
5) whether ruling carries out second leg, is to start New Round, otherwise continues the game of this bout;
In this step, arbiter continues current pass game if ruling current pass is not finished, if current pass terminates, Then enter next new bout.
6) game line is generated;
Game line is that intuitiveization of gambling process is shown, game expansion button is clicked in web terminal, so that it may see game Line, as shown in Figure 3.
7) unmanned plane programme is generated according to game line.
In this step, system generates unmanned plane programme according to game line, can help to plan according to this programme Personnel's high-speed decision, to carry out command and control to unmanned plane.
Commander's prewar can be fought thinking activities for the decision making through operations research of enemy, commander by the present invention as a result, be changed into Structuring can assess the gambling process of optimization, and auxiliary commander, which analyzes enemy, the strategy that we may take and bring, to be influenced, The game line based on confrontation thinking is ultimately formed, provides foundation for the design of operational design.

Claims (10)

1. the tactful game playing system towards unmanned platform command and control, which is characterized in that including unmanned platform and tactful game system System,
The strategy game playing system is used to extract available unmanned plane battle tactics by turn-based game mode, carries out game and determines Plan analysis, and form confrontation type game line;
The unmanned platform provides the emulation to the unmanned plane battle tactics of extraction, and generates nobody according to confrontation type game line Machine mission planning scheme controls unmanned plane according to unmanned plane mission planning scheme and executes corresponding actions instruction;
The strategy game playing system includes web terminal, background service and database;Pass through between the web terminal and background service Http request and webSocket information communication mechanism interact;The background service connects unmanned platform by messaging bus; The database provides data supporting for background service;The unmanned platform includes unmanned vehicle, wireless data transmission unit And ground command system;The ground command system between wireless data transmission unit and unmanned vehicle by interacting.
2. the tactful game playing system as described in claim 1 towards unmanned platform command and control, which is characterized in that the ground Command system includes: Auxiliary Control Element, mission planning unit and policy instructions decoder;
The policy instructions decoder, the unmanned plane battle tactics for extracting to tactful game playing system are decoded analysis, mention Give mission planning unit;
The mission planning unit, the unmanned plane battle tactics after the Decoding Analysis for submitting to tactful instruction decoder carry out Unmanned plane emulation, simulation result submit to tactful game playing system and carry out game decision-making analysis for it, are receiving tactful game playing system Unmanned plane mission planning scheme is generated after the confrontation type game line generated and sent, submits to Auxiliary Control Element;
The Auxiliary Control Element, the unmanned plane mission planning scheme control unmanned plane for being sent according to mission planning unit are held The instruction of row corresponding actions.
3. the application method of the tactful game playing system towards unmanned platform command and control, which comprises the following steps:
A. game initializes;
B. in gambling process, game side alternately goes out strategy, submits to unmanned plane mission planning platform and is emulated;
C. Analysis of Policy Making is carried out to the strategy that game side goes out using simulation result;
D. game line is generated according to gambling process;
E. unmanned plane programme is generated according to game line.
4. the application method of the tactful game playing system as claimed in claim 3 towards unmanned platform command and control, feature exist In in step a, the game initialization includes:
Standardized unmanned plane battle tactics library is got out, map file, institute are led according to the creation game of standardized policy library It states and leads map file conversation strategy in the form of mind map, may select for the policy library of this game in game, rich Participant can dynamically replace file during playing chess, the processing to adjust gambling process, when enhancing service logic changes Ability;
It sets scenario information and has divided game role, game user divides 3 kinds of roles: participant, arbiter, onlooker;It cuts out Gambling process is certainly integrally controlled, including whom is specified play a card, whether effectively current pass is decided, adds strategy for participant and determine Plan point;Participate in artificial individual or group;In group, there is a group leader, as participant, other artificial group members, as enclosing Onlooker;Group leader may specify, withdraw or switch out strategy/tactful centralization of state power, group member is allowed to be added, exit or kick out of group member;Group member can Strategy/tactful centralization of state power is played a card or is released in application, and application is exited, theme is added;But group member's ability only after game starts Allow that theme is added;
Game room is created, game divides multilateral Game and one-person game.
5. the application method of the tactful game playing system as claimed in claim 3 towards unmanned platform command and control, feature exist In the game line, that is, game theory comprising decision point, bout, strategy and set of strategies element;Bout is expressed as in game theory Node has precedence relationship between bout, set membership is shown as in tree;In addition, decision point is also expressed as node, at decision point Indicate branch;The child node of bout is set of strategies, and set of strategies is the combination for strategy, and the set of strategies of each bout is expressed as one Tree;
The organizational form of entire game line is the nested tree-like formula of tree:
First layer tree construction is made of bout and decision point, is game line primary structure;
Second layer tree construction is made of bout and set of strategies, and each bout exists under one or more set of strategies node, plan It slightly concentrates again comprising several strategies.
6. the application method of the tactful game playing system as claimed in claim 3 towards unmanned platform command and control, feature exist In in step b, only when user's acquisition game-theoretic control temporary can just go out strategy;Before going out strategy, it is necessary first to create a plan Slightly collect, then the exhibition strategy in set of strategies, does not allow same policy occur in the same set of strategies;Game-theoretic control power can be by Arbiter is assigned to some participant, or circuits sequentially acquisition;
Game branch is generated by decision point, when arbiter adds decision, each side for the game participant that allows to be the theme adds decision Point, and multiple decision points can be gone out, when arbiter is appointed as which side participant addition decision point, then control of playing a card accordingly is transferred To corresponding participant, by the way that branch can be increased in decision point after increasing decision point.
7. the application method of the tactful game playing system as claimed in claim 3 towards unmanned platform command and control, feature exist In,
In step b, the game side is recommended when going out strategy using the strategy reply recommendation service on tactful game playing system backstage Strategy, the strategy reply recommendation service cope with proposed algorithm or user preference proposed algorithm using incidence relation to recommend plan Slightly.
8. the application method of the tactful game playing system as claimed in claim 7 towards unmanned platform command and control, feature exist In,
The incidence relation copes with proposed algorithm
The character string in specified strategy is segmented by ansj_seg;
The keyword of specified number is calculated according to tf-idf algorithm;
Context-prediction is carried out with skip-gram model for each keyword, obtains association crucial phrase;
Associating policy is obtained by association crucial phrase, the reply as specified strategy is recommended;
When carrying out context-prediction using skip-gram model, tactful corpus is initially set up, then according to tactful corpus In corpus text establish corpus model, finally corpus model is trained according to keyword using three-layer neural network, is adopted Parameters all in objective function are updated with stochastic gradient rise method, using Hierarchical softmax algorithm to defeated Optimization is normalized in layer out, to obtain association crucial phrase.
9. the application method of the tactful game playing system as claimed in claim 7 towards unmanned platform command and control, feature exist In,
The user preference proposed algorithm includes:
User behavior data is collected in the scoring and frequency of playing a card omited first according to solution, and pre- place is normalized to data Reason selects similar neighborhood using K-neighborhoods algorithm then using the similarity between euclidean formula calculative strategy Collection is finally concentrated from similar neighborhood and obtains user preference strategy, as Generalization bounds.
10. the application side of the tactful game playing system towards unmanned platform command and control as described in claim 3-9 any one Method, which is characterized in that in step c, the scoring of strategy carries out the strategy that game side goes out using simulation result combination arbiter Analysis of Policy Making.
CN201811123247.7A 2018-09-26 2018-09-26 Unmanned platform command control oriented policy game system and application method thereof Pending CN109325690A (en)

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CN111294381A (en) * 2019-12-30 2020-06-16 中国人民解放军军事科学院国防科技创新研究院 Task planning-based heterogeneous information acquisition and distribution method
CN111539525A (en) * 2020-04-15 2020-08-14 北京圣涛平试验工程技术研究院有限责任公司 Method for determining relationship between individual failure rate and battle team victory ratio in unmanned aerial vehicle battle team confrontation
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CN110210115A (en) * 2019-05-30 2019-09-06 北京华如科技股份有限公司 The design of operation simulating scheme and operation method emulated based on decision point and branch
CN110210115B (en) * 2019-05-30 2023-01-31 北京华如科技股份有限公司 Combat simulation scheme design and operation method based on decision point and branch simulation
CN110490422A (en) * 2019-07-22 2019-11-22 中北大学 A kind of target fighting efficiency method for situation assessment based on game cloud model
CN110490427A (en) * 2019-07-25 2019-11-22 中国电子科技集团公司电子科学研究院 A kind of battle state display method and device of unmanned plane fortune throwing task
CN110708108A (en) * 2019-08-07 2020-01-17 西北工业大学 Wave beam control optimization method of multi-unmanned-aerial-vehicle millimeter wave network
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CN113867178A (en) * 2021-10-26 2021-12-31 哈尔滨工业大学 Virtual and real migration training system for multi-robot confrontation
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