第2期 吴莹莹，等：面向环境探测的多智能体自组织目标搜索算法 ·295· survey of the search theory literature[J].Naval research lo- IEEE International Symposium on Safety,Security,and gistics,1991,38(4):469-494. Rescue Robotics.Philadelphia,USA.2018. [2]吴军，徐昕，连传强，等.协作多机器人系统研究进展综 [12]AHMAD A.LAWLESS G.LIMA P.An online scalable 述[).智能系统学报，2011,6(1)少：13-27. approach to unified Multirobot cooperative localization WU Jun,XU Xin,LIAN Chuangiang,et al.A survey of re- and object tracking[J].IEEE transactions on robotics, cent advances in cooperative multi-robot systems[J].CAAI 2017,33(5:11841199. transactions on intelligent systems,2011,6(1):13-27. [13]CHEN Yufan,LIU Miao,EVERETT M,et al.Decentral- [3】]袁波.面向卫星资源规划的海面运动目标分析方法研 ized non-communicating Multiagent collision avoidance 究D].长沙：国防科学技术大学，2010：4-5 with deep reinforcement learning[C]//Proceedings of 2017 YUAN Bo.Research on analysis of maritime moving tar- IEEE International Conference on Robotics and Automa- get for satellite resource scheduling[D].Changsha:Nation- tion.Singapore,2017. al University of Defense Technology,2010:4-5. [14]LONG Pinxin,LIU Wenxi,PAN Jia.Deep-learned colli- [4]FORSTER C,PIZZOLI M,SCARAMUZZA D.Appear- sion avoidance policy for distributed multiagent naviga- ance-based active,monocular,dense reconstruction for mi- tion[J].IEEE robotics and automation letters,2017,2(2): cro aerial vehicle[C]//Proceedings of 2014 Robotics:Sci- 656-663. ence and Systems Conference.Berkeley,USA.2014. [15]熊雄，杨日杰，沈阳.基于等效平均探测宽度的航空磁 [5]XIA Fei,ZAMIR A R,HE Zhiyang,et al.Gibson Env: 探潜搜索概率评估模型[J].系统工程与电子技术 real-world perception for embodied agents[C]//Proceed- 2014,36(3):487-493 ings of the IEEE/CVF Conference on Computer Vision and XIONG Xiong,YANG Rijie,SHEN Yang.Search proba- Pattern Recognition.Salt Lake City,USA,2018: bility evaluation model of airborne magnetic anomaly de- 9068-9079 tection based on equivalent average sweep width[J].Sys- [6]RAMIREZ-PAREDES J P,DOUCETTE E A,CURTIS J tems engineering and electronics,2014,36(3):487-493. W,et al.Distributed information-based guidance of mul- 作者简介： tiple mobile sensors for urban target search[J].Autonom- 吴莹莹，硕士研究生，主要研究方 ous ro-bots.2018.42(2:375-389. 向为机器人控制、多智能体控制。 [7]BEST G.CLIFF O M.PATTEN T.et al.Dec-MCTS:de- centralized planning for multi-robot active perception[J]. The international journal of robotics research,2019. 38(2/3):316-337. [8]FAIGL J.GSOA:growing self-organizing Ar-ray-unsuper- vised learning for the close-enough traveling salesman 丁肇红，副教授，主要研究方向为 problem and other routing problems[J].Neuro-computing, 智能控制与决策、系统建模。主持完 成多项上海市教委科研项目。主编 2018.312:120-134 《自动控制原理》教材。发表学术论 [9]BEST G,FAIGL J,FITCH R.Online planning for mul-ti- 文数十篇。 robot active perception with self-organising maps[J]. Autonomous robots,2018,42(4):715-738. [10]PRICE E,LAWLESS G,LUDWIG R,et al.Deep neural network-based cooperative visual tracking through mul- 刘华平，副教授，博土生导师，主 要研究方向为机器人感知、学习与控 tiple micro aerial vehicles[J].IEEE robotics and automa- 制、多模态信息融合。发表学术论文 tion letters,2018,3(4)3193-3200. 10余篇。 [11]TALLAMRAJU R,RAJAPPA S,BLACK M J,et al.De- centralized MPC based obstacle avoidance for multi-ro- bot target tracking scenarios[C]//Proceedings of 2018survey of the search theory literature[J]. Naval research lo￾gistics, 1991, 38(4): 469–494. 吴军, 徐昕, 连传强, 等. 协作多机器人系统研究进展综 述 [J]. 智能系统学报, 2011, 6(1): 13–27. WU Jun, XU Xin, LIAN Chuanqiang, et al. A survey of re￾cent advances in cooperative multi-robot systems[J]. CAAI transactions on intelligent systems, 2011, 6(1): 13–27. [2] 袁波. 面向卫星资源规划的海面运动目标分析方法研 究 [D]. 长沙: 国防科学技术大学, 2010: 4–5. YUAN Bo. Research on analysis of maritime moving tar￾get for satellite resource scheduling[D]. Changsha: Nation￾al University of Defense Technology, 2010: 4–5. [3] FORSTER C, PIZZOLI M, SCARAMUZZA D. Appear￾ance-based active, monocular, dense reconstruction for mi￾cro aerial vehicle[C]//Proceedings of 2014 Robotics: Sci￾ence and Systems Conference. Berkeley, USA, 2014. [4] XIA Fei, ZAMIR A R, HE Zhiyang, et al. Gibson Env: real-world perception for embodied agents[C]//Proceed￾ings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition. Salt Lake City, USA, 2018: 9068–9079. [5] RAMIREZ-PAREDES J P, DOUCETTE E A, CURTIS J W, et al. Distributed information-based guidance of mul￾tiple mobile sensors for urban target search[J]. Autonom￾ous ro-bots, 2018, 42(2): 375–389. [6] BEST G, CLIFF O M, PATTEN T, et al. Dec-MCTS: de￾centralized planning for multi-robot active perception[J]. The international journal of robotics research, 2019, 38(2/3): 316–337. [7] FAIGL J. GSOA: growing self-organizing Ar-ray-unsuper￾vised learning for the close-enough traveling salesman problem and other routing problems[J]. Neuro-computing, 2018, 312: 120–134. [8] BEST G, FAIGL J, FITCH R. Online planning for mul-ti￾robot active perception with self-organising maps[J]. Autonomous robots, 2018, 42(4): 715–738. [9] PRICE E, LAWLESS G, LUDWIG R, et al. Deep neural network-based cooperative visual tracking through mul￾tiple micro aerial vehicles[J]. IEEE robotics and automa￾tion letters, 2018, 3(4): 3193–3200. [10] TALLAMRAJU R, RAJAPPA S, BLACK M J, et al. De￾centralized MPC based obstacle avoidance for multi-ro￾bot target tracking scenarios[C]//Proceedings of 2018 [11] IEEE International Symposium on Safety, Security, and Rescue Robotics. Philadelphia, USA, 2018. AHMAD A, LAWLESS G, LIMA P. An online scalable approach to unified Multirobot cooperative localization and object tracking[J]. IEEE transactions on robotics, 2017, 33(5): 1184–1199. [12] CHEN Yufan, LIU Miao, EVERETT M, et al. Decentral￾ized non-communicating Multiagent collision avoidance with deep reinforcement learning[C]//Proceedings of 2017 IEEE International Conference on Robotics and Automa￾tion. Singapore, 2017. [13] LONG Pinxin, LIU Wenxi, PAN Jia. Deep-learned colli￾sion avoidance policy for distributed multiagent naviga￾tion[J]. IEEE robotics and automation letters, 2017, 2(2): 656–663. [14] 熊雄, 杨日杰, 沈阳. 基于等效平均探测宽度的航空磁 探潜搜索概率评估模型 [J]. 系统工程与电子技术, 2014, 36(3): 487–493. XIONG Xiong, YANG Rijie, SHEN Yang. Search proba￾bility evaluation model of airborne magnetic anomaly de￾tection based on equivalent average sweep width[J]. Sys￾tems engineering and electronics, 2014, 36(3): 487–493. [15] 作者简介： 吴莹莹，硕士研究生，主要研究方 向为机器人控制、多智能体控制。 丁肇红，副教授，主要研究方向为 智能控制与决策、系统建模。主持完 成多项上海市教委科研项目。主编 《自动控制原理》教材。发表学术论 文数十篇。 刘华平，副教授，博士生导师，主 要研究方向为机器人感知、学习与控 制、多模态信息融合。发表学术论文 10 余篇。 第 2 期 吴莹莹，等：面向环境探测的多智能体自组织目标搜索算法 ·295·