CN111026104B - Multi-agent system quick response method and device under emergency - Google Patents
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Abstract
The invention provides a quick response method and device of a multi-agent system in an emergency, and relates to the field of artificial intelligence. The method comprises the following steps: acquiring a two-dimensional formation and an initial communication network D of a multi-agent formation when the agents are not in fault 1 And initial informationInteraction topology T 1 (ii) a Obtaining malfunctioning agent V 0 (ii) a Intelligent agent V based on fault occurrence 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if yes, then T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. The invention has high safety and reliability.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and a device for quickly responding a multi-agent system in an emergency.
Background
An agent is a computing entity that resides in a certain environment, can continuously and autonomously perform functions, has characteristics such as residence, reactivity, sociality, and initiative, and is widely used in various fields due to the fact that the agent does not need to be manually operated. Compared with the task completion of a single intelligent agent, the task completion of a plurality of intelligent agents is more efficient in cooperation, so that the multi-intelligent-agent technology is widely applied, and how to control the multi-intelligent-agent formation completion work is a great hotspot of current research.
During the work of the multi-agent formation, if some emergencies occur, part of the agent nodes can be damaged, so that the agents and the communication links connected with the agents cannot be used, and the multi-agent formation cannot continue to work. In the prior art, a failed agent and a communication link connected with the agent are generally deleted, an information interaction topology corresponding to a two-dimensional persistent formation in a communication network at the moment is obtained, and the information interaction topology is used for continuing working.
However, the inventor of the present application finds that, in practical application, because the multi-agent formation has a fast traveling speed during work, and the prior art has a long time to retrieve the information interaction topology, if the information interaction topology of the multi-agent formation is not restored quickly, collision between the agents is likely to occur, and the formation task cannot be completed. Therefore, the prior art has the defect of low safety.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a device for quickly responding a multi-agent system in an emergency, which solve the technical problem of low safety in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a multi-agent system quick response method under an emergency, which solves the technical problem and is executed by a computer, wherein the response method comprises the following steps:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault switchLetter link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if yes, then T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, T is judged 2 Whether it is a two-dimensional persistent graph, including:
obtaining an information interaction topology T 2 Number of communication links N in 1 And T 2 Number of agents N 2 (ii) a Judging whether N is satisfied 1 ＝2N 2 -3, if the condition is satisfied, then T 2 Is a two-dimensional persistent graph; if the condition is not satisfied, T 2 Not a two-dimensional persistent graph.
Preferably, in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said failed agent V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a The R is 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
Preferably, in S4, the method for obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the rigidity matrix M is a full rank or not; if not, deleting the spare edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is put into ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Adding to T 2 In and at T 2 Finding a node v with an in-degree less than 2 o At T 2 In (b) get v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 If the image is a two-dimensional persistent image, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
The invention provides a device for rapidly responding to a multi-agent system in an emergency, which solves the technical problem and comprises a computer, wherein the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if yes, then T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, T is judged 2 Whether it is a two-dimensional persistent graph, including:
obtaining an information interaction topology T 2 Number of communication links N in (1) 1 And T 2 Number of agents N 2 (ii) a Judging whether N is satisfied 1 ＝2N 2 -3, if the condition is satisfied, then T 2 Is a two-dimensional persistent graph; if the condition is not satisfied, T 2 Not a two-dimensional persistent graph.
Preferably, in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said failed agent V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a Subjecting said R to 1 From said R 2 Deleting the data to obtain the rest edge as a spare edge; all spare edges constitute a spare edge set.
Preferably, in S4, the method for obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the standby edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is connected ji Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Is added to T 2 In and at T 2 Find a node v with an incoming degree less than 2 o At T 2 In (b) get v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 If the image is a two-dimensional persistent image, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
(III) advantageous effects
The invention provides a method and a device for quickly responding a multi-agent system in an emergency. Compared with the prior art, the method has the following beneficial effects:
the invention obtains the two-dimensional formation and the initial communication network D of the multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 (ii) a Intelligent V based on fault 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if so, T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the invention, the intelligent agents with faults and the communication links connected with the intelligent agents are deleted, the standby edges are obtained, the arcs corresponding to the standby edges are added, and the complete information interaction topology corresponding to the two-dimensional persistent formation is obtained, so that the formation of the multi-intelligent agents can stably maintain the formation type when the task is executed, and the safety and the reliability are high.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an overall flowchart of a method for a multi-agent system to respond quickly in an emergency according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The embodiment of the application provides a method and a device for rapidly responding to a multi-agent system in an emergency, solves the technical problem of low safety in the prior art, and improves the safety of multi-agent formation during work.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
example of the inventionAcquiring two-dimensional formation and initial communication network D of multi-agent formation when agent fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 (ii) a Intelligent agent V based on fault occurrence 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if so, T 2 The topology is the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the intelligent agents with faults and the communication links connected with the intelligent agents are deleted, the standby edges are obtained, the arcs corresponding to the standby edges are added, and the complete information interaction topology corresponding to the two-dimensional persistent formation is obtained, so that the formation of the intelligent agents can stably maintain the formation type when the task is executed, and the safety and the reliability are high.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the invention provides a method for rapidly responding to a multi-agent system in an emergency, which is executed by a computer and comprises the following steps as shown in figure 1:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault occurrence 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 ；
S3, judgingDisconnected information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if so, T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
The embodiment of the invention obtains the two-dimensional formation and the initial communication network D of the multi-agent formation when the agents do not have faults 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 (ii) a Intelligent V based on fault 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if so, T 2 The topology is the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the intelligent agents with faults and the communication links connected with the intelligent agents are deleted, the standby edges are obtained, the arcs corresponding to the standby edges are added, and the complete information interaction topology corresponding to the two-dimensional persistent formation is obtained, so that the formation of the multi-intelligent agents can be stably kept when the multi-intelligent agent formation executes tasks, and the safety and the reliability are high.
Specifically, in the embodiment of the invention, the calculation is performed by the computer of the ground control center, and then the calculation result is sent to each intelligent agent, so that the information interaction topology of the multi-intelligent-agent two-dimensional formation is rapidly generated.
The following is a detailed analysis of each step.
In step S1, a two-dimensional formation and an initial communication network D of a multi-agent formation when the agents are not in fault are obtained 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 。
Specifically, a two-dimensional formation S and an initial communication network D when no intelligent agent fails in a multi-intelligent-agent formation are obtained 1 Topology T for interacting with initial information 1 。
The embodiment of the invention sets n AGENTs to form and maintain a two-dimensional formation form S through unidirectional communication among the AGENTs, and n positions in the formation form S are respectively numbered as {1,2, \8230;, n }.
Initial communication network D for multi-agent formation 1 ＝(V，A)。
Wherein:
V＝{v i 1 ≦ i ≦ n is the set of nodes represented by the agent, where v i Represents AGENT i I.e. the ith intelligent agent.
Initial information interaction topology T for multi-agent formation 1 ＝(V，A * )。
A * Is the arc set corresponding to the communication link in the information interaction topology.
And then acquiring damaged intelligent agents V in the multi-intelligent-agent formation when the multi-intelligent-agent formation fails 0 . In particular, damaged agent V 0 Can be one frame or a plurality of frames, and V is arranged in the embodiment of the invention 0 Refers to the set of agents that all the corrupted agents constitute.
In step S2, based on the intelligent agent V with fault 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Delete in to get informationInteractive topology T 2 。
Specifically, A 0 For initial information interaction topology T 1 Middle and fault intelligent body V 0 A connected communication link. Collecting damaged intelligent agent V 0 And its associated set of communication links A 0 Deleting the original information interaction topology to obtain a new information interaction topology T 2 。
In step S3, the information interaction topology T is judged 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if so, T 2 Namely the final information interaction topology.
Specifically, the judging method comprises the following steps:
obtaining information interaction topology T 2 Number of communication links N in 1 And T 2 Number of agents N 2 (ii) a Judging whether N is satisfied 1 ＝2N 2 -3, if the condition is satisfied, T 2 Is a two-dimensional persistent graph; if the condition is not satisfied, T 2 Not a two-dimensional persistent graph.
When T is 2 Is a two-dimensional persistent graph, a damaged agent set V 0 And its associated set of communication links A 0 For T 2 There is no effect. At this point T may be used 2 The method is used as an information interaction topology for multi-agent formation work.
In step S4, T is acquired 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Specifically, the method for acquiring the spare edge set includes:
based on the above initial communication network D 1 And said failed agent V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 。
Obtaining the above communication network D 2 Corresponding undirected graph R 2 (ii) a The above-mentioned R is reacted with 1 From the aboveR 2 The remaining edge is obtained as the spare edge. Wherein all spare edge slots form a spare edge set.
The final information interaction topology obtaining method comprises the following steps:
first obtaining the above R 1 A corresponding stiffness matrix M.
And sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank. If not, deleting the spare edge from the rigidity matrix M, if yes, judging:
for any spare edge e ij And (4) judging: spare edge e ij Node v of j At T 2 Is less than 2. If yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Is less than 2. If yes, the arc a is put into ji Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into ij Is added to T 2 In and at T 2 Find a node v with an incoming degree less than 2 o At T 2 In (b) get v o To v j And all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 。
Judgment of T 3 If the image is a two-dimensional persistent image, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
The obtained final information interaction topology is the information interaction topology executed when the multi-agent formation continues to work.
The embodiment of the invention also provides a device for quickly responding to the multi-agent system in an emergency, which comprises a computer, wherein the computer comprises:
at least one memory cell;
at least one processing unit;
wherein, at least one instruction is stored in the at least one storage unit, and the at least one instruction is loaded and executed by the at least one processing unit to realize the following steps:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault occurrence 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if so, T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
It can be understood that, the response device provided in the embodiment of the present invention corresponds to the response method, and the explanation, examples, and beneficial effects of the relevant contents of the response device provided in the embodiment of the present invention can refer to the corresponding contents in the multi-agent system fast response method in an emergency, and are not repeated herein.
In summary, compared with the prior art, the method has the following beneficial effects:
the embodiment of the invention obtains the two-dimensional formation and the initial communication network D of the multi-agent formation when the agents do not have faults 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 (ii) a Intelligent V based on fault 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if yes, then T 2 The topology is the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the intelligent agents with faults and the communication links connected with the intelligent agents are deleted, the standby edges are obtained, the arcs corresponding to the standby edges are added, and the complete information interaction topology corresponding to the two-dimensional persistent formation is obtained, so that the formation of the multi-intelligent agents can be stably kept when the multi-intelligent agent formation executes tasks, and the safety and the reliability are high.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments. In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A multi-agent system fast response method in an emergency, wherein the response method is executed by a computer and comprises the following steps:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, jumping to S4; if so, T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding devices based on the set of spare edgesUsing arcs of edges corresponding to T 2 Obtaining a final information interaction topology;
in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said failed agent V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a Subjecting said R to 1 From said R 2 Deleting the data to obtain the rest edge as a spare edge; all spare edges constitute a spare edge set.
2. The response method according to claim 1, wherein in S3, T is judged 2 Whether it is a two-dimensional persistent graph, including:
obtaining an information interaction topology T 2 Number of communication links N in 1 And T 2 Number of agents N 2 (ii) a Judging whether N is satisfied 1 ＝2N 2 -3, if the condition is satisfied, then T 2 Is a two-dimensional persistent graph; if the condition is not satisfied, T 2 Not a two-dimensional persistent graph.
3. The response method according to claim 1, wherein in S4, the method for obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the spare edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (3) is less than 2; if yes, the arc a is put into ij Adding to T 2 In the method, an information interaction topology is obtainedT 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is put into ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Is added to T 2 In and at T 2 Find a node v with an incoming degree less than 2 o At T 2 In acquisition of v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 If the image is a two-dimensional persistent image, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
4. A multi-agent system fast response apparatus in an emergency, the apparatus comprising a computer, the computer comprising:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, acquiring a two-dimensional formation and an initial communication network D of multi-agent formation when the agents are not in fault 1 Topology T for interacting with initial information 1 (ii) a Obtaining malfunctioning agent V 0 ；
S2, intelligent agent V based on fault 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a two-dimensional persistent graph; if not, skippingGoing to S4; if yes, then T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 Obtaining a final information interaction topology;
in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said failed agent V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a Subjecting said R to 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
5. The response device according to claim 4, wherein in S3, T is judged 2 Whether it is a two-dimensional persistent graph, including:
obtaining an information interaction topology T 2 Number of communication links N in 1 And T 2 Number of agents N 2 (ii) a Judging whether N is satisfied 1 ＝2N 2 -3, if the condition is satisfied, then T 2 Is a two-dimensional persistent graph; if the condition is not satisfied, T 2 Not a two-dimensional persistent graph.
6. The response device according to claim 4, wherein in S4, the method for obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the standby edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And (4) judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 2; if yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (3) is less than 2; if yes, the arc a is connected ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into ij Is added to T 2 In and at T 2 Find a node v with an incoming degree less than 2 o At T 2 In acquisition of v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Determine T 3 If the image is a two-dimensional persistent chart, if so, T 3 And if the topology is not the final information interaction topology, continuously adding the next standby edge and repeating the steps.
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