Robustness of multi-agent formation based on natural connectivity

摘要

The robustness of multi-agent topology has great importance to the design of multi-agent formation, while to improve the robustness of the topology without increasing its cost is also very important. In this paper, we proposed an optimization method for the robustness of multi-agent formation. The natural connectivity is used for measuring the robustness of multi-agent formation. Through analysis, the formation optimization problem is transformed into a 0–1 nonlinear programming problem. In order to solve the problem quickly, the paper presents a genetic algorithm based on chaotic search optimization. When the method given in this paper is applied to specific requirements, only the constraint conditions need to be modified, so the method has good universality. The results show that the optimized network can significantly improve the robustness of the network.