Comparison of Centralized, Dispersed and Hybrid Multiagent Control Systems of Underwater Vehicles Team

摘要

Multiagent systems controlling robots can have different structures, depending on how the decision is generated in these systems [2,8,10]. Decisions can be worked out in a centralized, decentralized or even in hybrid way (a hybrid system is a connection to both centralized and decentralized systems) [9,10]. In the case of controlling a team of underwater vehicles, it is significant to examine different structures of multiagent systems for choosing the best one for a defined underwater task. In this paper, the operation results of three different structures (centralized, dispersed - decentralized and hybrid) of multiagent control systems of underwater vehicles teams were presented. The systems were tested in predator-prey problem. In this problem, a team of three underwater vehicles had to catch another underwater robot escaping at a higher velocity.