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集群系统智能协同IOODA技术体系架构与关键技术

董希旺1,于江龙2,化永朝2,吕金虎2,任章3   

  1. 1. 北京航空航天大学飞行器控制一体化技术重点实验室
    2. 北京航空航天大学
    3. 北京航空航天大学自动化科学与电气工程学院
  • 收稿日期:2024-07-05 修回日期:2024-09-09 出版日期:2024-09-10 发布日期:2024-09-10
  • 通讯作者: 于江龙
  • 基金资助:
    国家自然科学基金

Architecture and Key Technologies of Intelligent cooperative IOODA Technology System for swarm systems

  • Received:2024-07-05 Revised:2024-09-09 Online:2024-09-10 Published:2024-09-10

摘要: 协同技术是集群系统执行任务和智能涌现的保障与途径。集群协同的核心是集群中智能体之间通过局部有限邻居之间的信息交互完成复杂的协同行为,进而实现1+1>2的整体任务效能的大幅度提升。通过梳理集群系统协同执行任务所需的功能及相互间的支撑关系,凝练出包括自组织交互、协同感知、协同认知、协同决策规划、协同制导控制在内的5项核心关键支撑技术,提出了面向集群系统智能协同的交互-感知-认知-决策-执行(Interaction-Observation-Orientation-Decision-Action,IOODA)技术体系架构。给出了集群系统智能协同IOODA技术体系架构的概念与内涵,概述了IOODA技术体系涉及的各项关键技术及其进展;分析了IOODA技术体系在集群系统实用化过程中面临的挑战,对各项关键技术未来发展进行了展望。

关键词: 集群智能, 智能协同, IOODA, 自组织交互, 协同感知, 协同认知, 协同决策规划, 协同制导控制

Abstract: Cooperative technology is the effective guarantee and approach for swarm systems to execute tasks and generate intelligence. The core of intelligent cooperation of swarm systems lies in the information exchange between individuals to complete complex cooperative behaviors, thereby achieving a significant improvement in overall task efficiency of 1+1>2. By sorting out the functions and supporting relationships required for cooperative task execution in swarm sys-tems, five key technologies required for swarm systems to complete tasks cooperatively are summarized. They are self-organizing interaction technology, cooperative perception technology, cooperative cognitive technology, cooperative decision-making technology, and cooperative guidance and control technology. An Interaction-Observation-Orientation-Decision-Action (IOODA) technology architecture for intelligent cooperation in swarm systems is proposed. Firstly, the concept and connotation of the intelligent cooperative IOODA technology architecture for swarm systems are present-ed. Secondly, the key technologies involved in the IOODA technology architecture and the existing progress are re-viewed. Finally, the challenges faced by the IOODA technology system are analyzed, and future development pro-spects for various key technologies are provided.

Key words: Swarm intelligence, Intelligent cooperation, IOODA, Self organized interaction, Cooperative perception, Coop-erative cognition, Cooperative decision-making, Cooperative guidance and Cooperative control

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