论文标题
异质性在自主外围防御问题中的作用
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
论文作者
论文摘要
自主机器人团队组成的异质性是什么时候有益的？什么时候有害？我们在最小可行的模型的背景下调查并回答了这个问题，该模型检查了异质速度在外围防御问题中的作用，在这些模型中，后卫共享总分配的速度预算。我们考虑两个不同的问题设置，并基于动态编程和本地交互规则制定策略。我们对两种方法进行了理论分析，并使用模拟对我们的结果进行了广泛的验证。有趣的是，我们的结果表明，异质团队的可行性取决于捍卫者可用的信息量。此外，我们的结果表明了普遍性：在广泛的问题参数中，防御者速度的最佳比率几乎保持恒定。
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.
