Directed interactive topology optimization design for multi-agent affine formation maneuver control

This paper investigates the directed interactive topology optimization design problem for multi-agent affine formation maneuver control. Firstly, considering the optimization indexes such as information interaction cost and information spreading energy consumption, a directed topology optimization model satisfying affine formation maneuver is established, including two sub-models of topology structure construction and weight allocation. Secondly, aiming at the topological structure construction for affine formation maneuver, a directed k-rooted graph detection method is proposed, which can realize the solution of d +1 -rooted constraint for directed information interaction topology, and then an improved NSGA-II topological structure construction optimization algorithm is designed. Finally, a formation of seven agents in twodimensional space is taken as an example for simulation verification. The results show that the improved topology NSGA -II topology construction optimization The algorithm has better optimization effects, can effectively provide a variety of feasible directed interactive topologies for affine formation maneuver control, and the generated interactive topology can meet the requirements of directed d +1 -rooted graph.