dcs22:多主体系统的协同任务优化
项目3
机器人网络的分布式任务分配
任务1
1）N个代理商
解决约束耦合线性规划问题（1）：
min {z1 ... zN} sum {1，N}（ci'zi）主题：sum {1，N} Hizi = b zi€Pi，i€{1 ... N}
ci€R ^ ni，嗨€R ^ Sxni，b€R ^ S紧凑多面体Pi = {zi€R ^ ni | Dizi = <di，Gizi = gi} i€{1 ... N}
使用分布式双重次梯度：
包含在“智能网络物理网络的分布式优化”中
蒙特卡洛模拟和曲线图显示了收敛的N和问题大小的变化
任务2
N个机器人，N个任务分散在有限的环境中
每个机器人必须完成一项任务，每个任务最多必须由一个机器人完成
min（机器人的行进距离）
二分分配图Ga = {Va，Ua; Ea}任务Va = {1 ... N}，代理Ua = {1 ... N}边（i，k）€Ea存
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