集群系统智能协同IOODA技术体系架构与关键技术  

Architecture and key technologies of intelligent cooperative IOODA technology system for swarm systems

作　　者：董希旺 于江龙[2] 化永朝 吕金虎 任章 DONG Xiwang;YU Jianglong;HUA Yongzhao;LÜJinhu;REN Zhang(Institute of Unmanned System,Beihang University,Beijing 100191,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;School of Artificial Intelligence,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学无人系统研究院,北京100191 [2]北京航空航天大学自动化科学与电气工程学院,北京100191 [3]北京航空航天大学人工智能学院,北京100191

出　　处：《航空学报》2025年第4期1-38,共38页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(U2241217,62103023,62103016,62473027,62473029,62403038,62203032);北京市杰出青年科学基金(JQ23019)。

摘　　要：协同技术是集群系统执行任务和智能涌现的保障与途径。集群协同的核心是集群中智能体之间通过局部有限邻居之间的信息交互完成复杂的协同行为,进而实现1+1>2的整体任务效能的大幅度提升。通过梳理集群系统协同执行任务所需的功能及相互间的支撑关系,凝练出包括自组织交互、协同感知、协同认知、协同决策规划、协同制导控制在内的5项核心关键支撑技术,提出了面向集群系统智能协同的交互-感知-认知-决策-执行(IOODA)技术体系架构。给出了集群系统智能协同IOODA技术体系架构的概念与内涵,概述了IOODA技术体系涉及的各项关键技术及其进展;分析了IOODA技术体系在集群系统实用化过程中面临的挑战,对各项关键技术未来发展进行了展望。Cooperative technology is the effective guarantee and approach for swarm systems to execute tasks and generate intelligence.The core of intelligent cooperation of swarm systems lies in the information exchange between individuals to complete complex cooperative behaviors,thereby achieving a significant improvement in overall task effi⁃ciency.By sorting out the functions and supporting relationships required for cooperative task execution in swarm sys⁃tems,five key technologies required for swarm systems to complete tasks cooperatively are summarized.They are self-organizing interaction technology,cooperative perception technology,cooperative cognitive technology,coopera⁃tive decision-making technology,and cooperative guidance and control technology.An Interaction-ObservationOrientation-Decision-Action(IOODA)technology architecture for intelligent cooperation in swarm systems is proposed.The concept and connotation of the intelligent cooperative IOODA technology architecture for swarm systems are pre⁃sented.The key technologies involved in the IOODA technology architecture and the existing progress are reviewed.The challenges faced by the IOODA technology system are analyzed,and prospects for future development of various key technologies are also discussed.

关 键 词：集群智能 智能协同 IOODA 自组织交互 协同感知 协同认知 协同决策规划 协同制导控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249