CESA-2021-3-11《 智能無人集群術(shù)語》團(tuán)體標(biāo)準(zhǔn)（征求意見稿）

ICS35.110

CCSL79

團(tuán)體標(biāo)準(zhǔn)

T/CESAXXXX—202X

智能無人集群術(shù)語

Intelligenceunmannedswarmterminology

（征求意見稿）

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202X-XX-XX發(fā)布202X-XX-XX實(shí)施

中國(guó)電子工業(yè)標(biāo)準(zhǔn)化技術(shù)協(xié)會(huì)發(fā)布

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前??言

本文件按照GB/T1.1-2020《標(biāo)準(zhǔn)化工作導(dǎo)則第1部分：標(biāo)準(zhǔn)化文件的結(jié)構(gòu)和起草規(guī)則》的規(guī)定起

草。

本文件由中國(guó)電子技術(shù)標(biāo)準(zhǔn)化研究院提出。

本文件由中國(guó)電子技術(shù)標(biāo)準(zhǔn)化研究院、中國(guó)電子工業(yè)標(biāo)準(zhǔn)化技術(shù)協(xié)會(huì)歸口。

本文件起草單位：

本文件主要起草人：

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引??言

集群是若干個(gè)體高效協(xié)作、緊密耦合,通過群體信息共享，擴(kuò)大對(duì)環(huán)境態(tài)勢(shì)的感知，實(shí)現(xiàn)協(xié)同任務(wù)

分配與協(xié)調(diào)，能夠有效提高群體完成復(fù)雜任務(wù)的能力，并具有高效率、高容錯(cuò)性和內(nèi)在的并行性等特點(diǎn)。

無人系統(tǒng)指平臺(tái)上無需人工操作的物理信息系統(tǒng)，作用于物理世界來完成目標(biāo)任務(wù)。無人系統(tǒng)可以

是移動(dòng)的或固定的，包括無人地面設(shè)備、無人空中設(shè)備、無人水下設(shè)備、無人水面設(shè)備和其他使用智能

傳感器技術(shù)無人操作的設(shè)備。無人化和智能化是無人系統(tǒng)最顯著的兩個(gè)特征。無人系統(tǒng)的智能化是指在

特定任務(wù)和環(huán)境下，無人系統(tǒng)“感知、認(rèn)知、分析、溝通、計(jì)劃、決策和執(zhí)行”的“自主能力”。無人

系統(tǒng)可在時(shí)間空間域根據(jù)環(huán)境、任務(wù)變化進(jìn)行實(shí)時(shí)調(diào)整并做出判斷，在無人或人工輔助情況下完成任務(wù)。

無人集群是一定數(shù)量的同構(gòu)或者異構(gòu)無人系統(tǒng)的智能聯(lián)合體，個(gè)體間利用信息交互與反饋、激勵(lì)與

響應(yīng)，實(shí)現(xiàn)群體行為協(xié)同，適應(yīng)動(dòng)態(tài)環(huán)境，共同完成特定任務(wù)。

智能無人集群的術(shù)語概念體系包括四個(gè)方面：架構(gòu)類術(shù)語、感知類術(shù)語、控制類術(shù)語、通信類術(shù)語、

規(guī)劃類和評(píng)估類術(shù)語。

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智能無人集群術(shù)語

1范圍

本文件定義了智能無人集群的架構(gòu)、感知、控制、通信、規(guī)劃和評(píng)估等術(shù)語。

本文件適用于智能無人集群相關(guān)技術(shù)的理解及智能無人集群系統(tǒng)的設(shè)計(jì)、研制、使用和維護(hù)。

2引用文件

本文件沒有規(guī)范性引用文件。

3術(shù)語和定義

3.1架構(gòu)類

3.1.1

平臺(tái)platform

一個(gè)實(shí)體的物理基礎(chǔ)設(shè)施。

3.1.2

無人系統(tǒng)unmannedsystem

通過施加電力完成給定任務(wù)的平臺(tái)無人的機(jī)電系統(tǒng)。

注：無人系統(tǒng)可以是移動(dòng)的或者固定的，如：無人地面設(shè)備、無人空中設(shè)備、無人水下設(shè)備和無人水面設(shè)備、無人

值守裝備和無人值守地面?zhèn)鞲衅餮b備。

3.1.3

智能體agent

代理

能夠代表另一個(gè)實(shí)體行動(dòng)的實(shí)體。

3.1.4

無人集群（系統(tǒng)）unmannedswarm（system）

一起自主、協(xié)調(diào)、魯棒地完成特定的任務(wù)的一組無人系統(tǒng)。

注：無人集群是一組具備部分自主能力的復(fù)雜系統(tǒng)，通過有人/無人操作裝置的輔助以及一名高級(jí)操作員的監(jiān)控，

一起完成特定任務(wù)。

3.1.5

異構(gòu)集群heterogeneousswarm

具有不同屬性的個(gè)體組成的無人集群。

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3.1.6

同構(gòu)集群homogeneousswarm

具有相同屬性的個(gè)體組成的無人集群。

3.1.7

協(xié)作cooperation

合作

無人集群中個(gè)體配合其他個(gè)體完成某一任務(wù)的方式。

3.1.8

協(xié)調(diào)coordination

通過個(gè)體之間相互商定或由上級(jí)進(jìn)行授權(quán)，指導(dǎo)或促進(jìn)多個(gè)個(gè)體的活動(dòng)以完成某一任務(wù)的方式。

3.1.9

協(xié)同collaboration

多個(gè)個(gè)體基于信息、資源以及責(zé)任的共享機(jī)制合力規(guī)劃、實(shí)施和評(píng)估，共同完成某一任務(wù)的方式。

3.1.10

跨域協(xié)同cross-domaincollaboration

在空、天、地、水域及電、網(wǎng)中聯(lián)合執(zhí)行任務(wù)，以協(xié)同方式共同完成任務(wù)。

3.1.11

同構(gòu)協(xié)同homogeneouscollaboration

同構(gòu)集群以協(xié)同方式完成任務(wù)。

3.1.12

異構(gòu)協(xié)同heterogeneouscollaboration

異構(gòu)集群以協(xié)同方式完成任務(wù)。

3.1.13

自主性autonomy

無人系統(tǒng)/無人集群（系統(tǒng)）通過感知、認(rèn)知、分析、通信、計(jì)劃、決策和行動(dòng)，以實(shí)現(xiàn)既定目標(biāo)

的能力。

注：自主性可根據(jù)任務(wù)復(fù)雜性、環(huán)境態(tài)勢(shì)復(fù)雜性和人參與程度劃分為不同等級(jí)。

3.1.14

操作模式modeofoperation；operationalmode

操作員為完成指定任務(wù)而與無人集群（系統(tǒng)）之間的交互方式，如：全自主、半自主、遠(yuǎn)程操作和

遠(yuǎn)程控制等。

3.1.15

全自主fullyautonomousunmannedswarm

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在定義范圍內(nèi)無需人工干預(yù)完成任務(wù)規(guī)劃和執(zhí)行的無人集群（系統(tǒng)）操作模式。

3.1.16

半自主semi-autonomous

通過不同程度的人機(jī)接口，完成任務(wù)規(guī)劃和執(zhí)行的無人集群（系統(tǒng)）操作模式。

3.1.17

遙操作teleoperation

操作員通過視頻反饋及其他傳感器反饋，并采用一個(gè)無線電控制設(shè)備直接控制驅(qū)動(dòng)器或分配增量目

標(biāo)的無人集群（系統(tǒng)）操作模式。在該模式下，無人系統(tǒng)可采取有限的主動(dòng)來實(shí)現(xiàn)分配的增量目標(biāo)。

3.1.18

遠(yuǎn)程控制remotecontrol

操作員無需通過視頻反饋及其他傳感器反饋，僅通過無線電控制設(shè)備直接且連續(xù)控制無人集群（系

統(tǒng)）執(zhí)行機(jī)構(gòu)的操作模式。在該模式下，無人系統(tǒng)依賴用戶連續(xù)或近似連續(xù)的輸入來被動(dòng)產(chǎn)生相應(yīng)動(dòng)作。

3.1.19

自主性等級(jí)autonomouslevel；levelofautonomy

用于評(píng)價(jià)無人集群（系統(tǒng)）自主性的一組漸進(jìn)式指數(shù)，通常以數(shù)字形式給出。

3.1.20

自主性協(xié)同autonomouscollaboration

無需外部控制要素，無人集群（系統(tǒng)）內(nèi)某個(gè)個(gè)體可與一個(gè)或多個(gè)有人或者無人系統(tǒng)協(xié)同的能力。

3.1.21

集群行為collectivebehavior

無人集群及其內(nèi)部個(gè)體有目的、有“意識(shí)”的群體運(yùn)行和演變活動(dòng)。

3.1.22

非合作行為uncooperativebehavior

群體中的個(gè)體無法正常執(zhí)行協(xié)同控制任務(wù)，使群體表現(xiàn)出所不期望特性的個(gè)體行為。

3.1.23

合作行為cooperativebehavior

群體中的個(gè)體通過信息交互與共享，相互配合以追求共同群體目標(biāo)的個(gè)體行為。

3.1.24

競(jìng)爭(zhēng)行為competitivebehavior

群體中的個(gè)體在群體競(jìng)爭(zhēng)過程中獲取某種利益的行為。

3.1.25

任務(wù)行為missionbehavior

根據(jù)環(huán)境和任務(wù)參數(shù)采取的一組行動(dòng)的行為。

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3.1.26

任務(wù)模塊missionmodule

使用通用接口的獨(dú)立組件，使無人集群系統(tǒng)能夠執(zhí)行具體任務(wù)。

3.1.27

群體智能swarmintelligence

受群居性生物集體行為啟發(fā)，用于設(shè)計(jì)問題求解算法和分布式系統(tǒng)的理論與方法。

3.1.28

群智激發(fā)swarmintelligenceincentive

吸引和引導(dǎo)數(shù)量眾多的個(gè)體按照一定的組織方式，來探索挑戰(zhàn)性任務(wù)的完成路徑或給出挑戰(zhàn)性任務(wù)

不同子任務(wù)解決方案的動(dòng)態(tài)過程。

3.1.29

群智匯聚swarmintelligenceconvergence

將激發(fā)過程中獲得的差異化分解和求解方案進(jìn)行評(píng)估和匯聚，達(dá)成群體的共識(shí)，找出通往完成最終

任務(wù)這一目標(biāo)的優(yōu)化路徑，以及此過程中不同子任務(wù)解決方案的動(dòng)態(tài)過程。

3.1.30

群智涌現(xiàn)swarmintelligenceemergence

通過個(gè)體之間以及個(gè)體與環(huán)境之間的交互和相互作用，按照特定規(guī)則通過自主決策實(shí)現(xiàn)更高級(jí)智能

的行為過程。

3.1.31

群智優(yōu)化swarmintelligenceoptimization

受生物群體簡(jiǎn)單性、自組織性、演化性、魯棒性和可擴(kuò)充性等特點(diǎn)啟發(fā)，來設(shè)計(jì)求解最優(yōu)化問題的

群體智能算法，如粒子群優(yōu)化算法、人工蜂群優(yōu)化算法、鴿群優(yōu)化算法等。

3.1.32

人機(jī)交互humanmachineinteraction

人與機(jī)器之間的交互活動(dòng)。

注：人機(jī)交互包括交互語言規(guī)范，如：用戶可以向機(jī)器詢問任務(wù)和相應(yīng)的動(dòng)作，機(jī)器可以向用戶詢問任務(wù)和相應(yīng)的

動(dòng)作。人機(jī)交互獨(dú)立于特定的顯示或交互方式，是機(jī)器與用戶之間計(jì)劃的和預(yù)期的交互。

3.1.33

人機(jī)共融humanmachineintegration

在任務(wù)執(zhí)行環(huán)境中，通過人-機(jī)-環(huán)境的自然交互，實(shí)現(xiàn)復(fù)雜環(huán)境中的自主適應(yīng)協(xié)同。

3.1.34

人機(jī)接口humanmachineinterface

人機(jī)交互或干預(yù)方法的物理實(shí)現(xiàn)。

3.1.35

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人在回路human-in-the-loop

由人類和智能體共同創(chuàng)建控制系統(tǒng)，通過人參與到一個(gè)良性循環(huán)中訓(xùn)練、調(diào)整和測(cè)試控制算法，從

而完成任務(wù)。

3.1.36

集中式架構(gòu)centralizedarchitecture

無人集群系統(tǒng)由中心節(jié)點(diǎn)調(diào)度和分發(fā)指令的一種工作模式。

3.1.37

分布式架構(gòu)distributedarchitecture

無人集群系統(tǒng)按照各節(jié)點(diǎn)關(guān)系對(duì)等情況下協(xié)同執(zhí)行任務(wù)的一種工作模式。

3.1.38

混合式架構(gòu)hybridarchitecture

介于集中式和分布式之間的一種無人集群系統(tǒng)架構(gòu)。在該架構(gòu)下，節(jié)點(diǎn)按照功能、類型、權(quán)限等進(jìn)

行分組和分工，其中高層級(jí)節(jié)點(diǎn)與低層級(jí)節(jié)點(diǎn)形成集中式架構(gòu)，同層級(jí)節(jié)點(diǎn)形成分布式架構(gòu)。

3.2感知類

3.2.1

導(dǎo)航navigation

引導(dǎo)無人集群系統(tǒng)中個(gè)體或者群體達(dá)到預(yù)定目的地的過程。

[GB/T9390-2017，改寫2.1.1]

3.2.2

感知perception

無人集群（系統(tǒng)）能夠察覺和構(gòu)建其運(yùn)行環(huán)境的內(nèi)部模型，并對(duì)環(huán)境中獲取的實(shí)體、事件和情況進(jìn)

行分類。

3.2.3

智能感知intelligentperception

采用人工智能手段，將同類和異類傳感信息匯集和融合，并通過記憶、學(xué)習(xí)、判斷和推理，實(shí)現(xiàn)對(duì)

環(huán)境的認(rèn)知、對(duì)象類別和屬性的識(shí)別。

3.2.4

仿生感知bioinspiredperception

模擬生物體中的感覺器官、神經(jīng)元與神經(jīng)網(wǎng)絡(luò)以及高級(jí)中樞的智能活動(dòng)等方面的信息處理過程，實(shí)

現(xiàn)對(duì)環(huán)境的認(rèn)知和對(duì)象類別與屬性的識(shí)別。

3.2.5

頻譜感知spectrumperception

通過某種手段確定頻譜資源中的空穴。

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3.2.6

協(xié)同感知collaborativeperception

利用同類或異類傳感器，通過特定共享機(jī)制，對(duì)區(qū)域內(nèi)的環(huán)境和對(duì)象信息進(jìn)行探測(cè)、處理和融合，

實(shí)現(xiàn)對(duì)環(huán)境的認(rèn)知、對(duì)象類別和屬性的識(shí)別。

3.2.7

協(xié)作感知cooperativeperception

利用時(shí)間、空間、資源等方面的互補(bǔ)性，個(gè)體間相互配合，共同對(duì)區(qū)域內(nèi)的環(huán)境和目標(biāo)信息進(jìn)行探

測(cè)、處理和融合，以實(shí)現(xiàn)對(duì)環(huán)境的認(rèn)知和對(duì)象類別與屬性的識(shí)別。

3.2.8

感知一致性perceptionconsensus

無人集群系統(tǒng)執(zhí)行任務(wù)時(shí)所獲外界和內(nèi)在感知信息的一致程度，包括感知絕對(duì)一致性和感知相對(duì)一

致性。

3.2.9

感知絕對(duì)一致性absoluteperceptionconsensus

無人集群系統(tǒng)執(zhí)行任務(wù)時(shí)所獲感知信息與真實(shí)狀態(tài)的一致程度。

3.2.10

感知相對(duì)一致性relativeperceptionconsensus

無人集群系統(tǒng)中執(zhí)行同一任務(wù)的兩個(gè)或者兩個(gè)以上的單元所共同獲取的感知信息的一致程度。

3.2.11

態(tài)勢(shì)感知situationawareness

對(duì)環(huán)境元素和事件相對(duì)于時(shí)間或空間的感知，包括對(duì)當(dāng)前狀態(tài)的獲取、理解以及對(duì)其未來狀態(tài)的預(yù)

測(cè)。

3.2.12

協(xié)同態(tài)勢(shì)感知cooperativesituationawareness

無人集群系統(tǒng)將各自獲取的數(shù)據(jù)、信息、知識(shí)和行為進(jìn)行共享和交換，實(shí)現(xiàn)對(duì)環(huán)境元素和事件相對(duì)

于時(shí)間或空間的感知、對(duì)當(dāng)前狀態(tài)的獲取、理解以及對(duì)其未來狀態(tài)的預(yù)測(cè)。

3.3控制類

3.3.1

控制control

補(bǔ)償實(shí)際狀態(tài)與預(yù)期或期望狀態(tài)之間差異的能力。

3.3.2

操作員控制單元operatorcontrolunit；operatorcontrolinterface；humaninteraction

controlunit

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操作員用來控制、通信、接收數(shù)據(jù)和信息以及為一個(gè)或多個(gè)無人系統(tǒng)規(guī)劃任務(wù)的計(jì)算機(jī)、附件和數(shù)

據(jù)鏈路設(shè)備。

3.3.3

自主控制autonomouscontrol

在無人干預(yù)下，通過智能體的感知、決策、協(xié)同和行動(dòng)等能力有機(jī)結(jié)合，從而完成群體任務(wù)的控制

模式。

3.3.4

協(xié)同控制collaborativecontrol

利用信息交互與共享，通過設(shè)計(jì)合適的局部控制策略以合理的方式協(xié)同行動(dòng)，共同完成特定任務(wù)的

控制模式。

3.3.5

協(xié)調(diào)控制coordinatecontrol

利用信息的層級(jí)交互機(jī)制，通過設(shè)計(jì)合適的整體控制策略以合理的方式協(xié)調(diào)有序行動(dòng)，共同完成特

定任務(wù)的控制模式。

3.3.6

一致性控制consensuscontrol

通過信息交互和局部控制規(guī)則，使得所有個(gè)體的狀態(tài)隨時(shí)間逐漸趨于一致，從而完成特定任務(wù)的控

制模式。

3.3.7

蜂擁控制flockingcontrol

利用信息交互，通過設(shè)計(jì)合適的局部控制規(guī)則，使所有集群個(gè)體速度矢量一致、彼此間距離恒定的

控制模式。

3.3.8

群集運(yùn)動(dòng)控制collectivemotioncontrol

利用信息交互與共享，通過設(shè)計(jì)合適的局部控制策略實(shí)現(xiàn)個(gè)體的運(yùn)動(dòng)控制，使其共同完成特定任務(wù)

的控制模式。

3.4通信類

3.4.1

網(wǎng)絡(luò)拓?fù)鋘etworktopology

描述網(wǎng)絡(luò)節(jié)點(diǎn)間連接關(guān)系和轉(zhuǎn)發(fā)關(guān)系的方法。

3.4.2

網(wǎng)狀網(wǎng)meshnetwork

所有節(jié)點(diǎn)在網(wǎng)絡(luò)中的地位相同，并且可以兩兩之間進(jìn)行交互通信的一種組網(wǎng)方式。

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3.4.3

自組網(wǎng)ad-hocnetwork

僅由下列節(jié)點(diǎn)組成的網(wǎng)絡(luò)，這些節(jié)點(diǎn)通過無線媒體位于網(wǎng)內(nèi)其他任意一個(gè)節(jié)點(diǎn)的通信范圍之內(nèi)。

3.4.4

隨遇接入stand-byaccess

處于移動(dòng)狀態(tài)的無人系統(tǒng)，可以隨時(shí)進(jìn)入或離開無人集群系統(tǒng)。

3.4.5

訪問控制策略accesscontrolstrategy

節(jié)點(diǎn)間信息交互時(shí)遵循的一種原則。

3.4.6

協(xié)同等級(jí)參數(shù)cooperationlevelparameter

用于指示期望消息接收方對(duì)該消息的響應(yīng)優(yōu)先級(jí)別的通信接口消息的參數(shù)。

3.5規(guī)劃類

3.5.1

任務(wù)規(guī)劃missionplanning

為一個(gè)或多個(gè)無人系統(tǒng)生成任務(wù)目標(biāo)、操作模式、任務(wù)協(xié)調(diào)、運(yùn)動(dòng)路徑和時(shí)間安排的過程。

3.5.2

緊密編隊(duì)close/tightformation

無人系統(tǒng)間距接近最小安全距離的編隊(duì)形式。

3.5.3

集群編隊(duì)swarmformation

無人集群通過網(wǎng)絡(luò)通信、自主協(xié)同和智能控制調(diào)整個(gè)體姿態(tài)，根據(jù)預(yù)定任務(wù)和態(tài)勢(shì)環(huán)境形成并保持

個(gè)體間的期望相對(duì)位置。

3.5.4

集群重構(gòu)swarmreconstruction

為實(shí)現(xiàn)對(duì)環(huán)境和任務(wù)的最佳響應(yīng)或在集群受破壞時(shí)得以快速恢復(fù)，以最小代價(jià)重建集群結(jié)構(gòu)及重新

組合系統(tǒng)功能的過程。

3.5.5

集群相變collectivephasetransition

外部參數(shù)或系統(tǒng)參數(shù)變化時(shí)，群體從一種狀態(tài)轉(zhuǎn)換成另一種狀態(tài)的過程。

3.5.6

集群防撞swarmcollisionavoidance

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無人系統(tǒng)群體運(yùn)動(dòng)時(shí)，個(gè)體間通過感知計(jì)算、信息交互和自主控制，實(shí)現(xiàn)避免撞擊或碰撞的行為。

3.5.7

目標(biāo)分配objectiveassignment

基于特定的環(huán)境知識(shí)和任務(wù)要求，為無人系統(tǒng)分配一個(gè)或一組有序目標(biāo)，以最小的代價(jià)完成最大可

能數(shù)量的任務(wù)。

3.5.8

頻譜分配spectrumallocation

將檢測(cè)到的可用頻譜分配給一個(gè)或多個(gè)指定無人系統(tǒng)，使無人系統(tǒng)間通過合理公平的方式共享頻譜

資源。

3.5.9

頻譜決策spectrumdecision

通過頻譜分析對(duì)所有頻譜空穴進(jìn)行描述，選擇合適的工作頻譜滿足當(dāng)前傳輸?shù)姆?wù)質(zhì)量需求和頻譜

特征。

3.5.10

協(xié)同搜索collaborativesearch

在一定約束條件下，無人集群按照特定方式通過共享機(jī)制對(duì)目標(biāo)區(qū)域進(jìn)行聯(lián)合搜尋和遍歷查找的過

程。

3.6評(píng)估類

3.6.1

仿真評(píng)估simulationevaluation

采用建模仿真技術(shù)建立系統(tǒng)的仿真模型，通過仿真實(shí)驗(yàn)獲取系統(tǒng)數(shù)據(jù)并進(jìn)行處理，實(shí)現(xiàn)系統(tǒng)效能指

標(biāo)的計(jì)算評(píng)估。常用的方法有：計(jì)算機(jī)仿真法、原型仿真法、仿真實(shí)驗(yàn)床法等。

3.6.2

效能評(píng)估effectivenessevaluation

對(duì)集群系統(tǒng)執(zhí)行某項(xiàng)任務(wù)結(jié)果或進(jìn)程的質(zhì)量好壞、作用大小、自身狀態(tài)等綜合效率指標(biāo)的量化計(jì)算

或結(jié)論性評(píng)價(jià)。

3.6.3

自主協(xié)同能力評(píng)估autonomouscollaborationabilityevaluation

采用定性/定量評(píng)價(jià)指標(biāo)，對(duì)無人集群的集群自主性和協(xié)同能力進(jìn)行綜合結(jié)論性評(píng)價(jià)。

3.6.4

系統(tǒng)魯棒性評(píng)估systemrobustnessevaluation

采用定性/定量評(píng)價(jià)指標(biāo)，對(duì)無人集群的魯棒性進(jìn)行綜合評(píng)價(jià)。

3.6.5

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序參量orderparameter

采用平均歸一化速度的模來描述集群系統(tǒng)有序程度的定量指標(biāo)。

3.6.6

集群使用可用度swarmoperationalavailability

在任務(wù)持續(xù)期間按固定時(shí)間間隔進(jìn)行采樣，得到能工作個(gè)體數(shù)量與集群總數(shù)比例的平均值。

3.6.7

集群任務(wù)可靠度swarmmissionreliability

集群在任務(wù)剖面時(shí)間段內(nèi)的無故障時(shí)間占總時(shí)間的比例。

3.6.8

集群連通可靠度swarmconnectivityreliability

集群數(shù)據(jù)鏈在任務(wù)剖面時(shí)間段內(nèi)的無故障時(shí)間占總時(shí)間的比例。

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索??引

B

半自主···············································································································3.1.16

C

操作模式············································································································3.1.14

操作員控制單元····································································································3.3.2

D

導(dǎo)航···················································································································3.2.1

F

仿生感知·············································································································3.2.5

仿真評(píng)估·············································································································3.6.1

訪問控制策略·······································································································3.4.8

非合作行為········································································································3.1.23

分布式架構(gòu)········································································································3.1.39

蜂擁控制·············································································································3.3.9

G

感知···················································································································3.2.3

感知絕對(duì)一致性··································································································3.2.10

感知相對(duì)一致性··································································································3.2.11

感知一致性··········································································································3.2.9

H

合作行為············································································································3.1.24

混合式架構(gòu)········································································································3.1.40

J

集群編隊(duì)·············································································································3.5.3

集群防撞·············································································································3.5.6

集群行為············································································································3.1.22

集群任務(wù)可靠度····································································································3.6.7

集群使用可用度····································································································3.6.6

集群相變·············································································································3.5.5

集群重構(gòu)·············································································································3.5.4

集中式架構(gòu)········································································································3.1.38

緊密編隊(duì)·············································································································3.5.2

競(jìng)爭(zhēng)行為············································································································3.1.25

K

控制···················································································································3.3.1

跨域協(xié)同············································································································3.1.10

M

目標(biāo)分配·············································································································3.5.7

P

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頻譜分配·············································································································3.5.8

頻譜感知·············································································································3.2.6

頻譜決策·············································································································3.5.9

平臺(tái)···················································································································3.1.1

Q

全自主···············································································································3.1.15

群集運(yùn)動(dòng)控制·····································································································3.3.10

群體智能············································································································3.1.28

群智匯聚············································································································3.1.30

群智激發(fā)············································································································3.1.29

群智涌現(xiàn)············································································································3.1.31

群智優(yōu)化············································································································3.1.32

R

人機(jī)共融············································································································3.1.34

人機(jī)交互············································································································3.1.33

人機(jī)接口············································································································3.1.35

人在回路············································································································3.1.37

任務(wù)規(guī)劃·············································································································3.5.1

任務(wù)行為············································································································3.1.26

任務(wù)模塊············································································································3.1.27

S

隨遇接入·············································································································3.4.7

T

態(tài)勢(shì)感知············································································································3.2.12

同構(gòu)集群·············································································································3.1.6

同構(gòu)協(xié)同············································································································3.1.11

W

網(wǎng)絡(luò)拓?fù)洹ぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁ?.4.2

網(wǎng)狀網(wǎng)················································································································3.4.3

無人集群（系統(tǒng)）·································································································3.1.4

無人系統(tǒng)·············································································································3.1.2

X

系統(tǒng)魯棒性評(píng)估····································································································3.6.4

效能評(píng)估·············································································································3.6.2

協(xié)調(diào)···················································································································3.1.8

協(xié)調(diào)控制·············································································································3.3.7

協(xié)同···················································································································3.1.9

協(xié)同等級(jí)參數(shù)·······································································································3.4.9

協(xié)同感知·············································································································3.2.7

協(xié)同控制·············································································································3.3.6

協(xié)同搜索············································································································3.5.10

協(xié)同態(tài)勢(shì)感知·····································································································3.2.13

協(xié)作···················································································································3.1.7

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協(xié)作感知·············································································································3.2.8

序參量················································································································3.6.5

Y

遙操作···············································································································3.1.17

一致性控制··········································································································3.3.8

異構(gòu)集群·············································································································3.1.5

異構(gòu)協(xié)同············································································································3.1.12

遠(yuǎn)程控制············································································································3.1.18

Z

智能感知·············································································································3.2.4

智能體················································································································3.1.3

自主控制·············································································································3.3.5

自主協(xié)同能力評(píng)估·································································································3.6.3

自主性···············································································································3.1.13

自主性等級(jí)········································································································3.1.19

自主性協(xié)同········································································································3.1.20

自組網(wǎng)················································································································3.4.6

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參?考?文?獻(xiàn)

[1]GB/T9390—2017導(dǎo)航術(shù)語

[2]GB/T38152—2019無人駕駛航空器系統(tǒng)術(shù)語

[3]ARP6128UnmannedSystemsTerminology

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目??次

前言.....................................................................................................................................................................III

引言.......................................................................................................................................................................IV

1范圍.....................................................................................................................................................................1

2引用文件.............................................................................................................................................................1

3術(shù)語和定義.........................................................................................................................................................1

3.1通用類.........................................................................................................................................................1

3.2感知類.........................................................................................................................................................5

3.3控制類.........................................................................................................................................................6

3.4通信類.........................................................................................................................................................7

3.5規(guī)劃類.........................................................................................................................................................8

3.6評(píng)估類.........................................................................................................................................................9

索??引...............................................................................................................................................................11

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智能無人集群術(shù)語

1范圍

本文件定義了智能無人集群的架構(gòu)、感知、控制、通信、規(guī)劃和評(píng)估等術(shù)語。

本文件適用于智能無人集群相關(guān)技術(shù)的理解及智能無人集群系統(tǒng)的設(shè)計(jì)、研制、使用和維護(hù)。

2引用文件

本文件沒有規(guī)范性引用文件。

3術(shù)語和定義

3.1架構(gòu)類

3.1.1

平臺(tái)platform

一個(gè)實(shí)體的物理基礎(chǔ)設(shè)施。

3.1.2

無人系統(tǒng)unmannedsystem

通過施加電力完成給定任務(wù)的平臺(tái)無人的機(jī)電系統(tǒng)。

注：無人系統(tǒng)可以是移動(dòng)的或者固定的，如：無人地面設(shè)備、無人空中設(shè)備、無人水下設(shè)備和無人水面設(shè)備、無人

值守裝備和無人值守地面?zhèn)鞲衅餮b備。

3.1.3

智能體agent

代理

能夠代表另一個(gè)實(shí)體行動(dòng)的實(shí)體。

3.1.4

無人集群（系統(tǒng)）unmannedswarm（system）

一起自主、協(xié)調(diào)、魯棒地完成特定的任務(wù)的一組無人系統(tǒng)。

注：無人集群是一組具備部分自主能力的復(fù)雜系統(tǒng)，通過有人/無人操作裝置的輔助以及一名高級(jí)操作員的監(jiān)控，

一起完成特定任務(wù)。

3.1.5

異構(gòu)集群heterogeneousswarm

具有不同屬性的個(gè)體組成的無人集群。

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3.1.6

同構(gòu)集群homogeneousswarm

具有相同屬性的個(gè)體組成的無人集群。

3.1.7

協(xié)作cooperation

合作

無人集群中個(gè)體配合其他個(gè)體完成某一任務(wù)的方式。

3.1.8

協(xié)調(diào)coord