基于二跳邻居的分布式大规模混合多智能体系统一致性协议

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关键词：多智能体系统；二跳邻域；一致性；大规模混合拓扑；分布式控制中图分类号：TN915.04 文献标志码：A 文章编号：1001-3695（2025）08-031-2482-08doi：10.19734/j.issn.1001-3695.2024.12.0531

Distributed consensus protocol in large-scale hybrid multi-agent systems with two-hop neighbors

XieGuangqiang，FengYanda，LiYang† （SchoolofComputerScience&Technology，Guangdong UniversityofTechnology，Guangzhou51006，China）

Abstract：Consensus in distributed MASservesas thefundamental prerequisite forachieving coordinatedcontrol.Traditionalmulti-agent consensus protocols typicallyutilizeone-hop neighborhood information forconvergence，whereeach agent relies solelyonlimitedlocalinformationresultinginslowconvergencerates.Toaddress thesechallenges，thispaperproposed adistributed consensus protocolbasedontwo-hopneighborinformation.Fistly，the proposed method integrated theoe-hop and two-hopneighborhood informationasthebasis forcomputingagents’nextstates，thereby enhancingagents’decisionmaking capabilities.Secondly，itdevelopedakeyneighborselectionmethod tomitigatepotential impactsoncomputationalefficiencyandrobustnesscaused bycolecting two-hopneighborhood information.Furthermore，itdesignedaconstraintseconstructionmethodbasedonrelativenearest-neighbortopolgytoexpandthescopeofconstraintsets.Finaly，throughtheintroductionof convex hull theoryandcase analysis，thispaper rigorouslyproved the protocol’sconnectivityandconvergence. Extensive simulation experiments acrosVarious topologytypes demonstrate thatthe proposed protocol exhibitssuperiorperformanceunderdiversetopologicalconfigurations，particularlyshowingsignificantadvantagesinlarge-scalehigh-density topologies.

Key words：multi-agentsystem（MAS）；two-hop neighborhood；consensus；largescale hybrid topology；distributed contro

0 引言

近年来，随着多智能体系统的快速发展，分布式共识算法已成为智能体之间合作与协调的基础，越来越高效的算法在协同控制[1～3]、事件触发控制[4～6]、任务分配[7～9]以及模糊系统[10.11]等领域取得了突破，进而促进了现实环境中多智能体系统的部署。（剩余18671字）