Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (5): 1252-1266.doi: 10.23919/JSEE.2023.000131
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收稿日期:2021-08-08出版日期:2023-10-18发布日期:2023-10-30
Strategy dominance mechanism of autonomous collaboration in unmanned swarm within the framework of public goods game
Li PAN1,2(
), Zhonghong WU1(), Minggang YU3,*(), Jintao LIU3(), Dan MEI4()
- 1 Weaponry Engineering College, Naval University of Engineering, Wuhan 430000, China
2 Electronics Engineering College, Naval University of Engineering, Wuhan 430000, China
3 Coastal Defense College, Naval Aeronautical University, Yantai 264001, China
4 Qingdao Campus, Naval Aeronautical University, Qingdao 266000, China
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Received:2021-08-08Online:2023-10-18Published:2023-10-30 -
Contact:Minggang YU E-mail:329674406@qq.com;yizhousan@163.com;yuminggang8989@163.com;jintao_liu_2020@126.com;meidan_plan@126.com -
About author:
PAN Li was born in 1985. She is a lecturer of Electronics Engineering College, Naval University of Engineering of the PLA. She has participated in the research work of several R&D Program of PLA Navy. She is the author of four books. Her research interests are SoS engineering and wireless communication theory. E-mail: 329674406@qq.com
WU Zhonghong was born in 1988. He is a lecturer of Weaponry Engineering College, Naval University of Engineering of the PLA. He has published more than 20 papers in important journals and academic conferences in the research field, including three SCI indexed, five EI indexed, and he also is the author of seven books. He has chaired one Natural Science Foundation of Hubei Province, participated in the research work of several National Natural Science Foundation of China, R&D Program of the PLA, and received two awards of the Scientific and Technological Progress. His research interests are robot pose estimation and theory of intelligent command and control. E-mail: yizhousan@163.com
YU Minggang was born in 1986. He is an associate professor of Institute of Command and Control Engineering, Army Engineering University of the PLA. He has published more than 50 papers in important journals and academic conferences in the research field, including 10 SCI indexed and 15 EI indexed, and he is also the author of five books. He has chaired one National Natural Science Foundation of China, participated in the research work of several National Science and Technology Ministry Key Research and Development Plan, National Key R&D Program of China, China Academy of Engineering Consulting Research Project, and received three Awards of the Scientific and Technological Progress. His research interests are SoS engineering and theory of intelligent command and control. E-mail: yuminggang8989@163.com
LIU Jintao was born in1981. He received his Ph.D. degree in control science and engineering from Naval Aeronautical University and later conducted postdoctoral research in computer science and technology at the Army Engineering University. He is with the Coastal Defense College, Naval Aeronautical University. His research interests include unmanned aerial vehicle flight control and unmanned aerial vehicle swarm control. E-mail: jintao_liu_2020@126.com
MEI Dan was born in 1981. He is currently with Qingdao Campus, Naval Aeronautical University, Yantai, China. He has published more than 10 papers and two works in important journals and conferences in this field. He has presided over and participated in a number of key naval research and development programs, and was awarded two scientific and technological progress awards. His research interests are unmanned aerial vehicle (UAV) equipment support and technology applications. E-mail: meidan_plan@126.com -
Supported by:This work was supported by the National Natural Science Foundation of China (71901217) and the National Key R&D Program of China (2018YFC0806900).
引用本文
. [J]. Journal of Systems Engineering and Electronics, 2023, 34(5): 1252-1266.
Li PAN, Zhonghong WU, Minggang YU, Jintao LIU, Dan MEI. Strategy dominance mechanism of autonomous collaboration in unmanned swarm within the framework of public goods game[J]. Journal of Systems Engineering and Electronics, 2023, 34(5): 1252-1266.
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| Autonomous collaboration of unmanned swarm | Multi-player public goods evolutionary game |
| Unmanned swarm | Mixed homogeneous population |
| Public resources required by autonomous collaboration (ammunition, communication, etc.) | Public goods |
| Multiple unmanned platforms involving in autonomous collaboration | Multi-player |
| Individual unmanned platforms | Individuals |
| Individual unmanned platforms as research objects | Focal individual |
| Cooperative behavior where platforms are willing to contribute resources to the swarm | Strategy A |
| Non-cooperative behavior where platforms prefer “free-riding” rather than contributing resources to the swarm | Strategy B |
| Public resources the swarm gives back to platforms under different strategies | Pay-off |
| Payoff-based strategy transition between unmanned platforms | Game |
| Dynamic variations in the proportion of platforms that take different strategies in multiple rounds of game | Evolutionary |
| After multiple rounds, the game is terminated after the proportion of platforms stabilizes | Evolutionary stable state |
| Expected proportion of cooperators (non-cooperators) in the swarm in the evolutionary stable state | Average abundance |
| Average abundance of cooperators in the swarm is larger than 0.5 | Strategy A dominates |
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| Strategy | Number of cooperators | |||||
| d−1 | ··· | k−1 | ··· | 1 | 0 | |
| A | rc−c | ··· | [r(kc+c)/d]−c | ··· | [2rc/d]−c | [rc/d]−c |
| B | r(d−1)c/2 | ··· | rkc/d | ··· | rc/d | 0 |
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| Strategy | Number of cooperators | ||||||
| d−1 | ··· | k | ··· | m−1 | ··· | 0 | |
| A | rc | ··· | [r(kc+c)/d]−c | ··· | mrc/d | ··· | 0 |
| B | [r(d−1)c/d]+c | ··· | [rkc/d]+c | ··· | 0 | ··· | 0 |
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