CN111340348A - Distributed multi-agent task cooperation method based on linear time sequence logic - Google Patents

Distributed multi-agent task cooperation method based on linear time sequence logic Download PDF

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CN111340348A
CN111340348A CN202010108021.0A CN202010108021A CN111340348A CN 111340348 A CN111340348 A CN 111340348A CN 202010108021 A CN202010108021 A CN 202010108021A CN 111340348 A CN111340348 A CN 111340348A
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方浩
田戴荧
陈杰
杨庆凯
曾宪琳
尉越
陈仲瑶
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Beijing Institute of Technology BIT
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Abstract

The invention discloses a distributed multi-agent task cooperation method based on linear time sequence logic, which solves the problem of multi-agent task decoupling.A decoupling product type B ü chi automaton of each agent is constructed by detecting a coupling edge, a self-body action sequence is constructed by the decoupling product type B ü chi automaton, the end points of the coupling edge correspond to actions needing cooperation, when each agent independently executes the self-body action sequence by using the decoupling product type B ü chi automaton, whether the currently executed action and the corresponding trigger condition are in the coupling set is judged, if so, the currently executed action is the action needing cooperation, the cooperative agent is requested to cooperate to make the action, and when the agent fails, the agent responsible for inheritance inheriting the task of the failed agent is selected.

Description

Distributed multi-agent task cooperation method based on linear time sequence logic
Technical Field
The invention belongs to the field of artificial intelligence, and particularly relates to a distributed multi-agent task cooperation method based on linear time sequence logic.
Background
Linear Temporal Logic (Linear Temporal Logic) is a technical field with research prospects in the field of artificial intelligence at present. The linear sequential logic can model a series of complex tasks with sequential relation by a stylized language, and transfer the language by a graph model, thereby constraining the complex sequential relation by a series of conditional transfer. The method is applied in a wide range of fields due to its completeness. In the field of multi-agent, the multi-agent system has the characteristics of complex tasks and coupling in time sequence relation, so that some traditional methods are difficult to model, and linear time sequence logic can well model the complex tasks of the multi-agent system.
For the sequential logic planning task in the multi-agent system, the existing solutions are as follows:
scheme 1 a centralized method for task planning in urban environment by applying linear sequential logic is proposed in the literature (Yushan Chen, Xu Chu Ding, all Stefanscu, and Calin Belta. formala. adaptive approach to deployment of robust temems in an urban area. in International Symposium on Distributed Autonomous robotics System,2013.) each robot models the urban environment as a finite state transfer system, transfers its own task into a corresponding B ü chi automaton to construct a product B ü chi automaton after which each robot multiplies the B ü chi automatons of all robots together, and plans an optimal path for each robot by the finally obtained product automaton all robots.
Scheme 2: the literature (Meng Guo and Dimos V diagnostics. Multi-agent mapping arrangement under 34(2):218, 235,2015.) constructs a hierarchical hybrid decision-control architecture for distributed multi-agent systems, which requires that each agent is assigned a linear timing logic formula as a task, and the agents cooperate with each other via a request-response communication model.
Scheme 3: document (Meng Guo and Dimos V dimalogons. task and movement for a heterologous multiagent system with a linkage coupled devices. IEEE Transactions on Automation Science and Engineering,14(2):797 and 808,2017.) this document constructs the action sequence of each robot distributively by predefining the coupling dependencies between the tasks of the robot, in conjunction with the Dijkstra algorithm, and guarantees the synchronization of the cooperative actions by means of a request-response-confirmation communication model.
The prior art scheme is researched in the aspects of multi-agent task decoupling, information transmission when multiple machines cooperate and processing strategy when nodes of a cluster part fail, but the effect is not ideal.
Disclosure of Invention
In view of this, the invention provides a distributed multi-agent task cooperation method based on linear sequential logic, which solves the problem of multi-agent task decoupling.
Furthermore, when part of the nodes in the cluster fail, other robots can react to the failure of the part of the robots, so that the cluster has robustness to the failure of the part of the nodes.
In order to solve the technical problem, the invention is realized as follows:
a distributed multi-agent task cooperation method based on linear time sequence logic comprises the following steps:
each agent respectively constructs a self decoupling product type B ü chi automaton and constructs a self action sequence through the decoupling product type B ü chi automaton, wherein the construction mode of the decoupling product type B ü chi automaton is that each agent adopts a finite state transfer system for describing the self working environment
Figure BDA0002389040410000021
And B ü chi automaton describing self task
Figure BDA0002389040410000022
Constructing a product B ü chi automaton directing task executionPBA, denoted as
Figure BDA0002389040410000023
Constructing an LGBA of a generalized label B ü chi automaton, detecting a coupling edge in the LGBA, determining the coupling edge in the PBA according to the projection relation of the LBGA and the PBA, and recording the coupling edge and trigger conditions thereof into a coupling set;
when each agent independently executes the action sequence by utilizing a decoupling product type B ü chi automaton, judging whether the currently executed action and the corresponding trigger condition are in the coupling set, if so, the currently executed action is the action needing cooperation, and broadcasting the action needing cooperation and the cooperation position to other agents to make the agent responsible for response perform the cooperation action;
when there is an agent piWhen the intelligent agent fails, the failure event is broadcasted to other intelligent agents; electing agent p responsible for inheritancejInheriting a failed agent piThe task of (2).
Preferably, the recording process of the coupling set specifically includes:
marking nodes of the coupling tasks in the LGBA, and calling the nodes as coupling task nodes; marking the child nodes of the coupling task node as the coupling task node; all edges containing coupled task nodes are marked as coupled edges (q)i,qj) (ii) a Will couple the edges (q)i,qj) Corresponding label lambdaijSet to true; the coupling task refers to a task completion state of a certain intelligent agent, and needs certain actions of other intelligent agents as conditions;
in building PBA, when an edge (q) that does not meet the branch condition occurss,qg) Instead of deleting edges directly, the corresponding edge (q) in the LGBA is found according to the projection relationship of LGBA and PBAi,qj) Judging the found edge (q)i,qj) Tag lambda ofijWhether true; if true, the corresponding edge (q) in PBA is sets,qg) Determining as a coupled edge, coupling the edges (q)s,qg) And trigger condition g thereofsgAdd to the coupling set of the PBA.
Preferably, the election agent p responsible for inheritancejInheriting a failed agent piThe task of (1) is as follows:
all agents p receiving the broadcast of the invalidation event and having the same functionality as the invalidating agentjConstructing a united intelligent agent model; the united intelligent agent model is constructed as follows: building Agents pjCompleting agent piPBA of the task of (1), noted
Figure BDA0002389040410000031
Establishing
Figure BDA0002389040410000032
To
Figure BDA0002389040410000033
The required inheritance task between the initial action nodes A is a jump action sequence; adding the sequence of jump actions to
Figure BDA0002389040410000034
Obtaining a joint agent model; wherein the content of the first and second substances,
Figure BDA0002389040410000035
for failed agent piPBA of (3);
and the agent of the inherited task executes an action sequence according to the joint agent model of the agent, and after the task is finished, the agent is switched back to the original decoupling product type B ü chi automaton.
Preferably, the building of the united intelligent agent model comprises the following specific steps:
step b1, agent pjBy describing their working environment
Figure BDA0002389040410000041
And describes an agent piOf tasks
Figure BDA0002389040410000042
Construction of a decoupled product B ü chi automaton
Figure BDA0002389040410000043
Step b2, assuming a failed agent piIs currently in motion
Figure BDA0002389040410000044
The node in (1) is
Figure BDA0002389040410000045
Slave node
Figure BDA0002389040410000046
Starting to backtrack to a father node and searching for a forward node, wherein the backtrack reaches the initial node of the current task
Figure BDA0002389040410000047
And the process is finished, so that the process is finished,
Figure BDA0002389040410000048
to
Figure BDA0002389040410000049
All the nodes form a set Q;
step b3, finding out description failure intelligent agent piWorking environment
Figure BDA00023890404100000410
Neutralization of
Figure BDA00023890404100000411
Contiguous adjacency points, denoted as point sets
Figure BDA00023890404100000412
Find out
Figure BDA00023890404100000413
Neutralization of
Figure BDA00023890404100000414
Adjacent to each otherAdjacency point, denoted as point set
Figure BDA00023890404100000415
Will point set
Figure BDA00023890404100000416
All the environmental labels in (1)iAnd
Figure BDA00023890404100000417
combine to form a plurality of new nodes
Figure BDA00023890404100000418
Form set Y1; will point set
Figure BDA00023890404100000419
All the environmental labels in (1)jCombined with each node in Q to form a set Y2; will be provided with
Figure BDA00023890404100000420
Node direction shown in the middle set Y2
Figure BDA00023890404100000421
The nodes shown in the middle set Y1 are connected, and then the path searching operation is carried out to obtain the path information
Figure BDA00023890404100000422
The combined intelligent agent model of the jump action sequence is added.
Preferably, the agent for election inheritance task is: and calculating the cost of the jump action sequence according to the joint agent model, and selecting the agent with the minimum cost as the agent for inheriting the task.
Preferably, the broadcasting the action and the cooperation position needing cooperation to other agents, and the broadcasting the failure event to other agents are realized by adopting a gossip information transmission protocol:
establishing a Request message includingkReply message ReplykAcknowledgement message ConfirmkNotification message WarningkThe message group of (1);
when an agent performs an action requiring collaboration, a Request is issued to all other agentskA message; receiving a RequestkThe agent of the message calculates the cost of responding to the message, and passes the cost through ReplykInforming other agents of completing Request through gossip protocolkIteration of the message is carried out, and an agent with the minimum cost is found; finally passing through ConfirmkEnd of message to RequestkResponding to the message;
Warningkthe information is used for the disabled agent to seek the inheritance task to other agents; sending Warning to other agents when an agent failskInformation; receiving WarningkThe agent of the message firstly constructs a joint agent model, calculates the cost of inheriting the task to reach the task starting point according to the joint agent model, and passes the cost through ReplykInforming other agents of completing Request through gossip protocolkIteration of the message is carried out, and the agent with the minimum cost is found to be used as the inheritance agent; finally passing through ConfirmkEnd of message pair WarningkResponding to the message;
Requestkmessage, ReplykMessage, ConfirmkMessages, WarningkThe messages are all provided with version numbers, so that the RequestkMessage and WarningkThe message can realize the whole network broadcast and the election of the responder through the gossip information transmission protocol.
Preferably, the message group is:
Figure BDA0002389040410000051
Figure BDA0002389040410000052
Figure BDA0002389040410000053
Figure BDA0002389040410000054
wherein k is an agent identification number; sigmadAn action requiring collaboration; pihA location requiring cooperation; t ismEstimated time to reach a desired collaboration location for the requesting agent;
Figure BDA0002389040410000055
indicating whether agent k determined to respond to the other agent's request information,
Figure BDA0002389040410000056
responding to a Request for agent kkThe time that the message is expected to take,
Figure BDA0002389040410000057
indicating whether the requested action has been confirmed to be completed,
Figure BDA0002389040410000058
estimating a time to pass through the collaboration zone for the agent determining the response; a. thekIn order to disable the capabilities of the agent,
Figure BDA0002389040410000059
the message sequence numbers of the messages are respectively the version numbers of the messages when the messages are generated, and the sequence numbers symbolize the sequence of the message generation.
Has the advantages that:
(1) when a B ü chi automaton for guiding task execution is constructed, the LGBA is used for detecting a coupling edge, and the coupling edge is added into each local decoupling product B ü chi automaton, so that the process of action planning is distributed, and the time complexity of planning is reduced.
(2) And (4) designing a combined robot model. By backtracking the current state of the failure node and constructing a combined robot model, other robots can complete the succession of tasks on the premise of not destroying the time sequence relation of the tasks, and the cluster can continue to complete established tasks under the condition that partial nodes fail. The invention can greatly reduce the computational complexity of the process and improve the capability of the cluster for dealing with partial node failure.
(3) The combination of the communication model and gossip. In order to ensure the synchronization of the cooperative action, a request-response-confirmation model in the literature is combined with the gossip protocol, and the gossip protocol suitable for the scene is designed, so that the speed of consistent convergence of multiple robots is increased.
Drawings
FIG. 1 is a schematic diagram of a task collaboration method for multiple robots under normal working conditions;
FIG. 2 is a schematic diagram of a task collaboration method in the case of robot failure.
Detailed Description
The following description will be given taking a robot as an agent.
Referring to fig. 1 and 2, the distributed multi-robot task collaboration method based on linear sequential logic of the present invention includes the following steps:
● under normal working conditions, each robot independently constructs its own decoupling product B ü chi automaton, and constructs its own action sequence through the automaton, the decoupling product B ü chi automaton here is the result of adding a coupling set in the product B ü chi automaton, the coupling set records the coupling edge and its trigger condition, and the end point of the coupling edge corresponds to the action that needs cooperation.
● when each robot independently executes the local action sequence by using a decoupling product B ü chi automaton, judging whether the current executed action and the corresponding trigger condition are in the coupling set, if so, the current executed action is the action needing cooperation, at the moment, the action needing cooperation and the cooperation position are broadcasted to other robots, and the robot responsible for response makes the cooperation action.
● when a robot fails, the failure event is broadcast to other robots. And selecting the robot in charge of inheritance by the robot receiving the failure event, wherein the robot in charge of inheritance adopts the built combined robot model to inherit the task of the failure robot. In the invention, the broadcasting cooperation event and the failure event to other robots are propagated by utilizing the gossip protocol in the cluster, and iteration is carried out until convergence. In addition, the election operation may be implemented by priority or by judgment that the spatial distance is shortest. The embodiment of the invention provides a judgment mode based on a combined robot model and cooperation cost.
Firstly, the scheme detects the coupling edge and adds the coupling edge into each local decoupling product B ü chi automaton, thereby enabling the process of action planning to be distributed, decoupling the task, and turning the planning process to be locally carried out, thereby having small calculation complexity.
The following is detailed description of the construction of a decoupling product type B ü chi automaton, the processing of cooperative actions, the task inheritance realization of a failed robot and the design of a communication model based on the gossip protocol.
Construction of B ü chi automaton by decoupling and decoupling coupling task
(1) Finite state transition system
In order to determine the position transition relationship of the robot in the environment, the environment needs to be modeled first, and in the distributed mission planning framework, the environment is modeled as a Finite state transition system (FTS). FTS is defined as follows:
definition 1. finite state transfer system (FTS) consists of one tuple:
Figure BDA0002389040410000071
wherein:
Π＝{π1,π2,...,πNrepresenting all areas of the rasterized working environment, wherein the areas are N areas; pi is also known as an environmental label, or state;
Figure BDA0002389040410000081
representing path connectivity between the grids;
Figure BDA0002389040410000082
representing an initial position of the robot;
AP represents an atomic proposition describing a task that is not repartitionable;
L:Π→2APattributes representing task atom propositions that the grid region has;
Figure BDA0002389040410000083
representing the cost required to transition between grid regions.
State piiIs denoted as Post (pi)i)＝{πj∈Π|πi→cπj}. The sequence of movements of the robot can be represented by a sequence of infinite states, τ ═ pi1π2.., wherein, pii∈Post(πi-1)。
(2) Non-deterministic B ü chi automaton
Forming task expressions by combining atomic propositions AP using Linear Temporal Logic (LTL) language
Figure BDA0002389040410000084
Relative to each LTL expression
Figure BDA0002389040410000085
There must be a corresponding B ü chi automaton (NBA) noted as Nonderteristic B ü chi automaton
Figure BDA0002389040410000086
Definition 2.
Figure BDA0002389040410000087
Defined as the five-tuple:
Figure BDA0002389040410000088
wherein Q is the set of states in the automaton,
Figure BDA0002389040410000089
representing the initial set of states in the automaton, 2APRepresenting a set of alphabets consisting of task atom propositions, delta: Q × 2AP→2QRepresenting the transition relationships between states in an automaton, QFRepresenting a set of acceptable states in the automaton.
(3) Multiplication type B ü chi automaton
The product B ü chi automaton is a combination of FTS and NBA and thus contains both environmental and task state information.
Definition 3. Product B ü chi automaton (PBA) is represented as Product B ü chi automation
Figure BDA00023890404100000810
Wherein:
Figure BDA00023890404100000811
wherein, Q ∈ Q*Nodes in NBA represent task states.
Figure BDA00023890404100000812
If and only if (pi)i,πj) ∈ → and qn∈δ(qm,L(πi))；qnIs a node, representing the action performed, L (π)i) Is a trigger condition;
Q0 *＝{<π,q>|π∈Π0,q∈Q0is the initial state set; .
Figure BDA0002389040410000091
Is an acceptable set;
Figure BDA0002389040410000092
is a weight function:
W*(<πi,qm>,<πj,qn>)＝W(πi,πj)
wherein<πj,qn>∈δ(<πi,qm>)。
The coupled task refers to the task completion state of a certain robot, needs some actions of other robots as conditions, and in order to distribute the task planning process, the task needs to be decoupled in the process of constructing a product type B ü chi automaton
Figure BDA0002389040410000093
Is denoted by τ denotes
Figure BDA0002389040410000094
Is not a coupled edge. The set of flag bits is called a coupling set. The coupling edge refers to a transfer relationship related to a coupling task in the PBA of each robot, and generally, such a transfer relationship cannot independently complete conversion on the condition that other robots simultaneously perform corresponding actions.
The detection thought of the coupling edge is that an LGBA of an automaton with a generalized label B ü chi is constructed, the coupling edge is detected in the LGBA, the coupling edge in the PBA is determined according to the projection relation between the LBGA and the PBA, the coupling edge in the PBA and the trigger condition thereof are recorded in a coupling set, and the end point of the coupling edge corresponds to the action needing cooperation.
The coupling edge detection process is specifically realized as follows:
the LGBA is an automaton with a generalized label B ü chi for constructing a task, the LGBA can be reconstructed here, and the LGBA formed in the process of constructing the PBA can be extractedAnd coupling the task nodes. And traversing the child nodes of the coupling task in the LGBA, and marking all the child nodes of all the coupling task nodes as the coupling task nodes. An edge comprising one or two coupled task nodes is denoted as a coupled edge (q)i,qj). Where q is the end point of the edge. Will couple the edges (q)i,qj) Corresponding label lambdaijSet to true. The label can borrow the label in the LGBA, and can also newly set a label.
In the process of building PBA, when the PBA is paired
Figure BDA0002389040410000095
And
Figure BDA0002389040410000096
while performing the product, traverse
Figure BDA0002389040410000097
And detecting whether the environment label of the subsequent node meets the transfer condition or not by each edge in the PBA, and if so, obtaining the edge in the PBA. In the existing processing, when an edge (q) not meeting the branch condition appearss,qg) And when the data is deleted, the data is directly deleted. And the present invention is directed to these edges (q)s,qg) Not deleting directly, but finding out the sum (q) in LGBA according to the projection relation of LGBA and PBAs,qg) Corresponding edge (q)i,qj) Judging the found edge (q)i,qj) Tag lambda ofijWhether true; if true, the corresponding edge (q) in PBA is sets,qg) Determining as a coupled edge, coupling the edges (q)s,qg) And trigger condition g thereofsgAdd to the coupling set of the PBA.
In the embodiment of the invention, the flag bit tau is constructed into a two-dimensional array, the rows and the columns respectively correspond to the end points of the edges, and the elements in the array record the trigger conditions. The flag bit τ corresponds to the recording of the coupling edge and its trigger condition. Then, when the coupling edge (q) is determineds,qg) Then, the corresponding trigger condition g can be setsgElement τ (q) recorded to τs,qg) In (1).
The step can distribute the action planning process by detecting the coupling edge and adding the coupling edge to each local decoupling product B ü chi automaton, thereby reducing the planning time complexity.
Design of combined robot model
In a complex environment, the robot may have a function damage phenomenon due to its own equipment, for example, three robots DA，DB，DC，DAIs assigned to DBTask of opening the door, DBThe goods to be transported through the doors DCIs assigned the task of cleaning the house, if D is the sameAIf a problem occurs, the door cannot be opened and the entire cluster will not complete the task, whereas if D is presentCThe robot can be at DAInheriting D temporarily when a problem occursAThe robot cluster can complete the task. In order to solve the problem of failure of part of nodes possibly occurring in a cluster and improve the robustness of the method, the invention designs an integration scheme of a failure robot. Let failure robot be piWhen there is an agent piWhen the intelligent agent fails, the failure event is broadcasted to other intelligent agents; all agents p receiving the broadcast of the invalidation event and having the same functionality as the invalidating agentjAnd constructing a combined robot model, and selecting the robot inheritance task with the minimum cooperation cost according to the cooperation cost indicated by the combined robot model, so that the robot can inherit the disabled robot task under the condition of minimum time complexity.
The construction idea of the combined robot model is as follows: construction robot pjCompleting robot piPBA of the task of (1), noted
Figure BDA0002389040410000101
Establishing
Figure BDA0002389040410000102
To
Figure BDA0002389040410000103
Initial action of required inheritance taskMaking a jump action sequence between the nodes A; adding the sequence of jump actions to
Figure BDA0002389040410000111
Obtaining a combined robot model; wherein the content of the first and second substances,
Figure BDA0002389040410000112
for a disabled robot piPBA of (1).
The specific steps of the construction of the combined robot model are as follows:
step b1, marking the robot for constructing the combined robot model as pj. Robot pjBy describing their working environment
Figure BDA0002389040410000113
And describe the disabled robot piOf tasks
Figure BDA0002389040410000114
Constructing a decoupling product type B ü chi automaton according to step 1
Figure BDA0002389040410000115
Figure BDA0002389040410000116
The build has been completed in a previous step, where no repeat build is needed.
Step b2, assume failed robot piIs currently in motion
Figure BDA0002389040410000117
The node in (1) is
Figure BDA0002389040410000118
In that
Figure BDA0002389040410000119
And backtracking from the node to the father node, and searching for the previous nodes which are all related to the current task. Backtracking until reaching the starting node of the current task
Figure BDA00023890404100001110
And the process is finished, so that the process is finished,
Figure BDA00023890404100001111
to
Figure BDA00023890404100001112
All nodes of (a) constitute a set Q. The Q contains the complete task, the start node
Figure BDA00023890404100001113
And is also the place where the robot inheriting the task needs to access. Since the start task is coded into a special identifier, the start node of the task can be identified by means of the special identifier.
Step b3, finding description failure robot piWorking environment
Figure BDA00023890404100001114
Neutralization of
Figure BDA00023890404100001115
Contiguous adjacency points, denoted as point sets
Figure BDA00023890404100001116
Find out
Figure BDA00023890404100001117
Neutralization of
Figure BDA00023890404100001118
Contiguous adjacency points, denoted as point sets
Figure BDA00023890404100001119
The adjacent points are two
Figure BDA00023890404100001120
The closest point, i.e. the point that can be reached by a one-step jump. Will point set
Figure BDA00023890404100001121
All the environmental labels in (1)iAnd
Figure BDA00023890404100001122
in combination, a plurality of new nodes can be formed by permutation and combination
Figure BDA00023890404100001123
Forming set Y1. All points in set Y1 are
Figure BDA00023890404100001124
In (1). Will point set
Figure BDA00023890404100001125
All the environmental labels in (1)jThe nodes in Q are combined and arranged to form a set Y2. All points in set Y2 are
Figure BDA00023890404100001126
In (1). Will be provided with
Figure BDA00023890404100001127
Node direction shown in the middle set Y2
Figure BDA00023890404100001128
The node shown in the set Y1 of (a) makes a connection, the connection having a direction, through which connection the connection is established
Figure BDA00023890404100001129
To the direction of
Figure BDA00023890404100001130
Simultaneously adding the jump action sequence to
Figure BDA00023890404100001131
In (1). And then, performing path searching operation to obtain a combined robot model. The path search operation may employ the Dijkstra algorithm. Through the above calculation, the slave
Figure BDA00023890404100001132
Transferring to
Figure BDA00023890404100001133
The path for task inheritance is carried out, and simultaneously, the task timing relation is not violated.
Step b4, selecting the robot with inherited tasks: the cost of the jump action sequence, i.e. the cost of the robot jumping from the current position to the task initial action node a, which may be for example time, or other information, is calculated according to the joint robot model. And selecting the robot with the minimum cost as the robot for inheriting the task.
B5, the robot inheriting the task executes the action sequence according to the self combined robot model, and after the task is completed, the original decoupling product type B ü chi automaton is switched back
Figure BDA0002389040410000121
The combined robot model can enable other robots to complete inheritance of tasks on the premise of not destroying the time sequence relation of the tasks, so that the cluster can continue to complete established tasks under the condition that partial nodes fail. Meanwhile, the computational complexity of the process is greatly reduced, and the capability of the cluster for dealing with partial node failures is improved.
Design of communication model
In the framework, in order to avoid the situation that the robot runs a planned path locally and the collaboration is not synchronous, a request-response-confirmation communication model based on gossip is adopted. (Meng Guo and Dimos VDimagogenas. task and movement correlation for heterologous multiagent system with local correlation. IEEE Transactions on Automation Science and engineering,14(2): 797. times. 808,2017.) A request-response-confirmation model is proposed which ensures the completion of the collaborative task during the robot task by requesting, responding and confirming three types of messages. However, the model is too ideal in practical application, and the process that information propagates in the cluster to reach convergence is not considered. The invention is achieved by combining the followingThe communication model and the gossip information transmission protocol consider the transmission of messages in a multi-robot cluster in more detail and accelerate the convergence of the messages at the same time. At the same time increase WarningkA message. Under the gossip protocol, the format of each message is as follows:
Figure BDA0002389040410000122
Figure BDA0002389040410000123
Figure BDA0002389040410000124
Figure BDA0002389040410000125
wherein, RequestkFor request messages, ReplykIn response to the message, ConfirmkTo acknowledge messages, WarningkTo inform the message. k is the number of the robot. SigmadFilling triggering conditions of actions for actions needing cooperation; pihFilling the environment tags into positions needing cooperation; t ismAnd predicting the time of the robot sending the request when the robot reaches the position needing cooperation.
Figure BDA0002389040410000131
Indicates whether the robot k determines to respond to the Request of other robotskThe message, the element may be an array, the location of the array corresponds to a different robot, and 1/0 at the location indicates whether the corresponding robot responds to the request.
Figure BDA0002389040410000132
Responding to Request for local robot kkThe time that the message is expected to take,
Figure BDA0002389040410000133
whether assistance is completed for confirmationThe action is carried out, and the action is carried out,
Figure BDA0002389040410000134
the time for the responding robot to pass through the collaboration zone is determined for pre-estimation. WarningkMessages are prepared for the combined robot model, sent out for a disabled robot, seeking other robots to inherit their own tasks, AkIn order to disable the capabilities of the robot, the legacy robot is required to have the same capabilities;
Figure BDA0002389040410000135
the message sequence numbers of the messages are respectively the version numbers of the messages when the messages are generated, and the sequence numbers symbolize the sequence of the message generation.
When the action needing cooperation is executed, the robot constructs a Request message, and the action sigma needing cooperation is added into the Request messagedAnd a cooperation position pihAnd calculating the time of arrival of the user at the position needing cooperation. And transmitting the Request message in the cluster by using a gossip protocol, iterating until convergence, and making a cooperative action by the robot in charge of response.
The iterative process of the Request message is as follows: each robot continuously transmits the Request message received by the robot to the neighbor node; when each node receives a Request message, if the node does not generate a Reply message, estimating an estimated cooperation Cost, namely estimating the estimated time spent by the node in response to the Request message; the Cost is compared with t in other received repliesdBy comparison, if Cost is small, then it is more appropriate to respond to the request itself, and then all 0's are generated
Figure BDA0002389040410000136
Updating the corresponding position of the user to be 1, and filling the Cost into the position
Figure BDA0002389040410000137
In generating a new Reply message, of
Figure BDA0002389040410000138
Set to be in all Reply messages
Figure BDA0002389040410000139
The maximum value of (2) plus 1, and propagation is carried out; if a Reply message is generated by itself and the message is stored in the robot, judging other received Reply messages
Figure BDA00023890404100001310
Whether the message size is larger than that sent by the Reply message; if received
Figure BDA00023890404100001311
If the message size is larger than the preset value, updating the content in the Reply message stored by the message size by using the content in the received Reply message; if received
Figure BDA00023890404100001312
And if the value is small, the treatment is not carried out. In the end of this process,
Figure BDA00023890404100001313
and
Figure BDA00023890404100001314
are updated to the relevant information of the robot responding to the request. When new, less costly collaborators appear, only all are the same
Figure BDA00023890404100001315
The robot(s) update messages synchronously, thereby significantly reducing traffic in the network. When gossip protocol is iterated to all robots
Figure BDA0002389040410000141
The method for judging whether the consistency is reached is that the messages are continuously received for n times for each robot
Figure BDA0002389040410000142
If the communication Request does not change, the robot responding to the Request is generated, and the communication iteration process is finished, so that the robot responds.
And then, when the triggering condition of the transfer relation of the robot proposing the Request message is met, the robot proposing the Request message generates a Confirm message, the message is propagated in the cluster, the received robot compares the cooperative action, and the Request message corresponding to the Confirm message and all the generated Reply messages corresponding to the Request are deleted. And then return to the task before responding.
The response mechanism of the Warning message is consistent with the Request message, AkThe same robot processes the message. When the robot fails, transmitting Warning information to other robots; the robot receiving the surfing message firstly constructs a combined robot model, calculates the cost of the inheritance task reaching the task starting point according to the combined robot model, informs other robots of the cost through Reply, completes the whole network iteration of the Request message through a gossip protocol, and finds the robot with the minimum cost as the inheritance robot. ReplyiAnd σ in the Confirm messagedNo recognizable numerical value such as-1 is required to be filled in or otherwise filled in.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A distributed multi-agent task cooperation method based on linear time sequence logic is characterized by comprising the following steps:
each agent constructs its own decoupling product formula
Figure FDA0002389040400000011
Automaton and by the decoupled product form
Figure FDA0002389040400000012
The automaton constructs a self-body action sequence; the decoupled product form
Figure FDA0002389040400000013
The automaton has the following construction mode: each agent adopts a finite state transfer system for describing its working environment
Figure FDA0002389040400000014
And describing self-tasks
Figure FDA0002389040400000015
Automatic machine
Figure FDA0002389040400000016
Constructing a product formula directing task execution
Figure FDA0002389040400000017
Automaton PBA, denoted as
Figure FDA0002389040400000018
Constructing generalized labels
Figure FDA0002389040400000019
An automatic machine LGBA, detecting a coupling edge in the LGBA, determining the coupling edge in the PBA according to the projection relation of the LBGA and the PBA, and recording the coupling edge and the trigger condition thereof into a coupling set; the end points of the coupling edges correspond to actions needing cooperation;
using decoupled product equations at each agent
Figure FDA00023890404000000110
When the automaton independently executes the action sequence of the automaton, judging whether the currently executed action and the corresponding trigger condition are in the coupling set, if so, the currently executed action is an action needing cooperation; at the moment, the action and the cooperation position which need to be cooperated are broadcasted to other intelligent agents, and the intelligent agent responsible for response makes a cooperation action;
when there is an agent piWhen the intelligent agent fails, the failure event is broadcasted to other intelligent agents; electing agent p responsible for inheritancejInheriting a failed agent piThe task of (2).
2. The method according to claim 1, characterized in that the recording process of the coupling set is specifically:
marking nodes of the coupling tasks in the LGBA, and calling the nodes as coupling task nodes; marking the child nodes of the coupling task node as the coupling task node; all edges containing coupled task nodes are marked as coupled edges (q)i,qj) (ii) a Will couple the edges (q)i,qj) Corresponding label lambdaijSet to true; the coupling task refers to a task completion state of a certain intelligent agent, and needs certain actions of other intelligent agents as conditions;
in building PBA, when an edge (q) that does not meet the branch condition occurss,qg) Instead of deleting edges directly, the corresponding edge (q) in the LGBA is found according to the projection relationship of LGBA and PBAi,qj) Judging the found edge (q)i,qj) Tag lambda ofijWhether true; if true, the corresponding edge (q) in PBA is sets,qg) Determining as a coupled edge, coupling the edges (q)s,qg) And trigger condition g thereofsgAdd to the coupling set of the PBA.
3. The method of claim 1, wherein the election agent p responsible for inheritance isjInheriting a failed agent piThe task of (1) is as follows:
all agents p receiving the broadcast of the invalidation event and having the same functionality as the invalidating agentjConstructing a united intelligent agent model; the united intelligent agent model is constructed as follows: building Agents pjCompleting agent piPBA of the task of (1), noted
Figure FDA0002389040400000021
Establishing
Figure FDA0002389040400000022
To
Figure FDA0002389040400000023
The required inheritance task between the initial action nodes A is a jump action sequence; adding the sequence of jump actions to
Figure FDA0002389040400000024
Obtaining a joint agent model; wherein the content of the first and second substances,
Figure FDA0002389040400000025
for failed agent piPBA of (3);
selecting an agent inheriting a task according to the cooperation cost indicated by the combined agent model; the agent inheriting the task executes the action sequence according to the joint agent model of the agent, and after the task is completed, the agent is switched back to the original decoupling product formula
Figure FDA0002389040400000026
An automaton.
4. The method of claim 3, wherein the building of the federated agent model comprises the specific steps of:
step b1, agent pjBy describing their working environment
Figure FDA0002389040400000027
And describes an agent piOf tasks
Figure FDA0002389040400000028
Constructing decoupled product form
Figure FDA0002389040400000029
Automatic machine
Figure FDA00023890404000000210
Step b2, assuming a failed agent piIs currently in motion
Figure FDA00023890404000000211
The node in (1) is
Figure FDA00023890404000000212
Slave node
Figure FDA00023890404000000213
Starting to backtrack to a father node and searching for a forward node, wherein the backtrack reaches the initial node of the current task
Figure FDA00023890404000000214
And the process is finished, so that the process is finished,
Figure FDA00023890404000000215
to
Figure FDA00023890404000000216
All the nodes form a set Q;
step b3, finding out description failure intelligent agent piWorking environment
Figure FDA00023890404000000217
Neutralization of
Figure FDA00023890404000000218
Contiguous adjacency points, denoted as point sets
Figure FDA00023890404000000219
Find out
Figure FDA00023890404000000220
Neutralization of
Figure FDA00023890404000000221
Contiguous adjacency points, denoted as point sets
Figure FDA00023890404000000222
Will point set
Figure FDA00023890404000000223
All the environmental labels in (1)iAnd
Figure FDA00023890404000000224
combine to form a plurality of new nodes
Figure FDA00023890404000000225
Form set Y1; will point set
Figure FDA00023890404000000226
All the environmental labels in (1)jCombined with each node in Q to form a set Y2; will be provided with
Figure FDA00023890404000000227
Node direction shown in the middle set Y2
Figure FDA00023890404000000228
The nodes shown in the middle set Y1 are connected, and then the path searching operation is carried out to obtain the path information
Figure FDA00023890404000000229
The combined intelligent agent model of the jump action sequence is added.
5. The method of claim 3, wherein the agent that elects the inherited task is: and calculating the cost of the jump action sequence according to the joint agent model, and selecting the agent with the minimum cost as the agent for inheriting the task.
6. The method of claim 1, wherein the broadcasting actions and collaboration locations requiring collaboration to other agents and the broadcasting failure events to other agents are implemented using gossip messaging protocols:
establishing a Request message includingkReply message ReplykAcknowledgement message ConfirmkNotification message WarningkThe message group of (1);
when an agent performs an action requiring collaboration, a Request is issued to all other agentskA message; receiving a RequestkThe agent of the message calculates the cost of responding to the message, and passes the cost through ReplykInforming other agents of completing Request through gossip protocolkIteration of the message is carried out, and an agent with the minimum cost is found; finally passing through ConfirmkEnd of message to RequestkResponding to the message;
Warningkthe information is used for the disabled agent to seek the inheritance task to other agents; sending Warning to other agents when an agent failskInformation; receiving WarningkThe agent of the message firstly constructs a joint agent model, calculates the cost of inheriting the task to reach the task starting point according to the joint agent model, and passes the cost through ReplykInforming other agents of completing Request through gossip protocolkIteration of the message is carried out, and the agent with the minimum cost is found to be used as the inheritance agent; finally passing through ConfirmkEnd of message pair WarningkResponding to the message;
Requestkmessage, ReplykMessage, ConfirmkMessages, WarningkThe messages are all provided with version numbers, so that the RequestkMessage and WarningkThe message can realize the whole network broadcast and the election of the responder through the gossip information transmission protocol.
7. The method of claim 6, wherein the set of messages is:
Figure FDA0002389040400000041
Figure FDA0002389040400000042
Figure FDA0002389040400000043
Figure FDA0002389040400000044
wherein k is an agent identification number; sigmadAn action requiring collaboration; pihA location requiring cooperation; t ismEstimated time to reach a desired collaboration location for the requesting agent;
Figure FDA0002389040400000045
indicating whether agent k determined to respond to the other agent's request information,
Figure FDA0002389040400000046
responding to a Request for agent kkThe time that the message is expected to take,
Figure FDA0002389040400000047
indicating whether the requested action has been confirmed to be completed,
Figure FDA0002389040400000048
estimating a time to pass through the collaboration zone for the agent determining the response; a. thekIn order to disable the capabilities of the agent,
Figure FDA0002389040400000049
the message sequence numbers of the messages are respectively the version numbers of the messages when the messages are generated, and the sequence numbers symbolize the sequence of the message generation.
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