{"id":27661,"date":"2021-07-18T22:31:03","date_gmt":"2021-07-18T14:31:03","guid":{"rendered":"https:\/\/swarma.org\/?p=27661"},"modified":"2021-07-18T22:31:03","modified_gmt":"2021-07-18T14:31:03","slug":"%e9%95%bf%e6%96%87%e7%bb%bc%e8%bf%b0%ef%bc%9a%e9%9b%86%e7%be%a4%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%9a%84%e8%bf%87%e5%8e%bb%e3%80%81%e7%8e%b0%e5%9c%a8%e4%b8%8e%e6%9c%aa%e6%9d%a5","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=27661","title":{"rendered":"\u957f\u6587\u7efc\u8ff0\uff1a\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u8fc7\u53bb\u3001\u73b0\u5728\u4e0e\u672a\u6765"},"content":{"rendered":"
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\u7814\u7a76\u9886\u57df\uff1a\u7fa4\u4f53\u667a\u80fd\uff0c<\/strong><\/strong><\/span><\/strong><\/span><\/strong><\/strong>\u96c6\u7fa4\u673a\u5668\u4eba\uff0c\u81ea\u7ec4\u7ec7\uff0c\u6f14\u5316\u7b97\u6cd5<\/strong><\/strong><\/span><\/strong><\/span><\/strong><\/strong><\/p>\n<\/section>\n<\/section>\n<\/section>\n

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Marco Dorigo\u3001Guy Theraulaz\u3001Vito Trianni | \u4f5c\u8005<\/span><\/strong><\/p>\n

\u9122\u9e4f\u9ad8 | \u8bd1\u8005<\/span><\/strong><\/p>\n

\u8d75\u96e8\u4ead | \u5ba1\u6821<\/span><\/strong><\/span><\/strong><\/p>\n

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Swarm Robotics: Past, Present, and Future<\/span><\/p>\n

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https:\/\/ieeexplore.ieee.org\/abstract\/document\/9460560<\/span><\/p>\n<\/section>\n<\/section>\n<\/blockquote>\n


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\t\u96c6\u7fa4\u673a\u5668\u4eba<\/span>\uff08swarm robotics\uff09<\/span>\u6d89\u53ca\u5927\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u8bbe\u8ba1\u3001\u5efa\u9020\u548c\u90e8\u7f72\uff0c\u5b83\u4eec\u80fd\u591f\u76f8\u4e92\u534f\u8c03\u5e76\u534f\u540c\u89e3\u51b3\u95ee\u9898\u6216\u8005\u6267\u884c\u4efb\u52a1\u3002\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u7075\u611f\u6765\u6e90\u4e8e\u81ea\u7136\u81ea\u7ec4\u7ec7\u7cfb\u7edf\uff0c\u4f8b\u5982\u793e\u4ea4\u6606\u866b\uff0c\u9c7c\u7c7b\u6216\u9e1f\u7fa4\uff0c\u5b83\u4eec\u90fd\u662f\u57fa\u4e8e\u7b80\u5355\u672c\u5730\u4ea4\u4e92\u89c4\u5219\u7684\u6d8c\u73b0\u6027\u7fa4\u4f53\u884c\u4e3a<\/span>\uff08emergent collective behavior\uff09<\/span>[1][2]\u3002\u901a\u5e38\u800c\u8a00\uff0c\u96c6\u7fa4\u673a\u5668\u4eba\u4ece\u8fd9\u4e9b\u81ea\u7136\u7cfb\u7edf\u7684\u7814\u7a76\u4e2d\u63d0\u53d6\u5de5\u7a0b\u539f\u7406\uff0c\u4ece\u800c\u6784\u5efa\u5177\u6709\u53ef\u6bd4\u80fd\u529b\u7684\u591a\u673a\u5668\u4eba\u7cfb\u7edf<\/strong>\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u96c6\u7fa4\u673a\u5668\u4eba\u65e8\u5728\u6784\u5efa\u6bd4\u5355\u4e2a\u673a\u5668\u4eba\u66f4\u52a0\u9c81\u68d2\u3001\u66f4\u5f3a\u5bb9\u9519\u548c\u66f4\u9ad8\u7075\u6d3b\u7684\u7cfb\u7edf\uff0c\u5e76\u4e14\u80fd\u591f\u66f4\u597d\u5730\u8c03\u6574\u81ea\u8eab\u884c\u4e3a\u6765\u9002\u5e94\u73af\u5883\u53d8\u5316\u3002<\/span><\/section>\n

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\u56fe 1. \u5728\u8c37\u6b4c\u5b66\u672f\u548cScopus\u4e2d\u641c\u7d22\u201c\u96c6\u7fa4\u673a\u5668\u4eba\u201d\u7684\u5f15\u7528\u8ba1\u6570\uff0c\u56fe\u4e2d\u663e\u793a\u4e862000\u5e74\u540e\u7684\u53d8\u5316\u8d8b\u52bf\u3002<\/span><\/section>\n

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\t\u6700\u521d\uff0c\u5bf9\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u7814\u7a76\u65e8\u5728\u6d4b\u8bd5\u4f7f\u7528stigmergy<\/span>\uff08\u672c\u6587\u4e2d\u4f7f\u7528\u7684\u5404\u9879\u6982\u5ff5\u7684\u5b9a\u4e49\u89c1\u88681\uff09<\/span>\u4f5c\u4e3a\u673a\u5668\u4eba\u4e4b\u95f4\u95f4\u63a5\u901a\u4fe1\u548c\u534f\u8c03\u7684\u624b\u6bb5\u3002\u8ddf\u968f\u7740\u65e9\u671f\u7814\u7a76[9-11]\u7684\u6b65\u4f10\uff0c2000\u5e74\u4e4b\u540e\u51fa\u73b0\u4e86\u4e00\u4e9b\u4e13\u6ce8\u4e8e\u5bf9\u8c61\u68c0\u7d22<\/span>\uff08foraging [13]\uff1bStick pulling[14]\uff09<\/span>\u3001\u805a\u7c7b[15]\u548c\u5bf9\u8c61\u6392\u5e8f[16]\u7684\u7814\u7a76\u3002\u8fd9\u4e9b\u7814\u7a76\u59cb\u4e8e\u89c2\u5bdf\u6240\u5f97\u7684\u7fa4\u5c45\u6606\u866b\u7684\u5df2\u77e5\u884c\u4e3a\uff0c\u5e76\u4e14\u90e8\u7f72\u4e86\u5177\u6709\u76f8\u4f3c\u884c\u4e3a\u7684\u96c6\u7fa4\u673a\u5668\u4eba\u3002\u5728\u5c11\u6570\u60c5\u51b5\u4e0b\uff0c\u96c6\u7fa4\u673a\u5668\u4eba\u88ab\u7528\u6765\u7d27\u5bc6\u590d\u5236\u5728\u751f\u7269\u7cfb\u7edf\u4e2d\u89c2\u5bdf\u5230\u7684\u52a8\u6001<\/span>\uff08\u4f8b\u5982\uff0c\u87d1\u8782\u7fa4\u7684\u805a\u96c6[17]\uff09<\/span>\uff0c\u8fd9\u4ea7\u751f\u4e86\u751f\u7269-\u673a\u5668\u4eba\u6df7\u5408\u793e\u4f1a[18]\u7684\u5148\u4f8b\u3002\u6b64\u5916\uff0c\u673a\u5668\u4eba\u96c6\u7fa4\u8fd8\u88ab\u7528\u4f5c\u89e3\u51b3\u751f\u7269\u5b66\u95ee\u9898\u7684\u5de5\u5177<\/span>\uff08\u4f8b\u5982\uff0c\u5bfb\u627e\u98df\u7269\u6e90\u548c\u5de2\u7a74\u4e4b\u95f4\u6700\u77ed\u8def\u5f84\u7684\u9053\u8def\u7f51\u7edc\u51e0\u4f55\u7ed3\u6784\uff08trail network geometry\uff09\u662f\u4ec0\u4e48[19]\uff09<\/span>\u3002<\/span><\/section>\n

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2001\u5e74\u81f32005\u5e74\u95f4\uff0c\u7531\u6b27\u76df\u59d4\u5458\u4f1a\u8d44\u52a9\u7684Swarm-bots\u9879\u76ee\u662f\u7814\u7a76\u96c6\u7fa4\u673a\u5668\u4eba\u5408\u4f5c\u7684\u7b2c\u4e00\u4e2a\u56fd\u9645\u9879\u76ee\u3002\u5728\u8be5\u9879\u76ee\u4e2d\uff0c\u4e00\u4e2a\u7531\u591a\u8fbe20\u4e2a\u673a\u5668\u4eba\u7ec4\u6210\u7684\u5177\u6709\u81ea\u7ec4\u88c5\u80fd\u529b\u7684\u7fa4<\/span>\uff08\u5373\u7269\u7406\u4e0a\u5f7c\u6b64\u8fde\u63a5\u4ee5\u5f62\u6210\u534f\u4f5c\u7ed3\u6784\uff09<\/span>\u88ab\u7528\u4e8e\u7814\u7a76\u4e00\u4e9b\u7fa4\u4f53\u884c\u4e3a\uff0c\u4f8b\u5982\u96c6\u4f53\u8fd0\u8f93\u3001\u533a\u57df\u8986\u76d6\u548c\u76ee\u6807\u641c\u7d22[25, 26]\u3002\u8fd9\u4e9b\u673a\u5668\u4eba\u80fd\u591f\u968f\u7740\u65f6\u95f4\u63a8\u79fb\u5728\u96c6\u7fa4\u4e2d\u626e\u6f14\u7740\u4e0d\u540c\u7684\u89d2\u8272\uff0c\u8fd9\u662f\u8fc4\u4eca\u4e3a\u6b62\u552f\u4e00\u4e00\u4e2a\u7531\u673a\u5668\u4eba\u7ec4\u6210\u7684\u81ea\u7ec4\u7ec7\u56e2\u961f\u5408\u4f5c\u89e3\u51b3\u590d\u6742\u4efb\u52a1\u7684\u4f8b\u5b50\u3002Swarmanoid\u9879\u76ee<\/span>\uff082006-2010\uff09<\/span>\u5c06Swarm-bots\u4e2d\u7684\u601d\u60f3\u548c\u7b97\u6cd5\u6269\u5c55\u5230\u7531\u4e09\u79cd\u7c7b\u578b\u7684\u673a\u5668\u4eba\u7ec4\u6210\u7684\u5f02\u6784\u673a\u5668\u4eba\u96c6\u7fa4\u4e2d<\/span>\uff08\u98de\u884c\u673a\u5668\u4eba\u3001\u722c\u5347\u673a\u5668\u4eba\u548c\u5730\u9762\u673a\u5668\u4eba\uff09<\/span>\uff0c\u4ece\u800c\u534f\u4f5c\u6267\u884c\u641c\u5bfb\u548c\u68c0\u7d22\u4efb\u52a1[28, 29]\u3002<\/span><\/section>\n

<\/section>\n
\u5728\u6210\u529f\u6f14\u793a\u4e86\u96c6\u7fa4\u673a\u5668\u4eba\u8303\u5f0f\u7684\u540c\u65f6\uff0c\u6709\u5173\u786c\u4ef6\u5c0f\u578b\u5316\u7684\u7814\u7a76\u6709\u671b\u90e8\u7f72\u6570\u767e\u4e2a\u3001\u751a\u81f3\u6570\u5343\u4e2a\u534f\u4f5c\u673a\u5668\u4eba<\/span>\uff08\u5982\u56fe2\u6240\u793a\uff09<\/span>\u3002\u673a\u5668\u4eba\u53d8\u5f97\u8d8a\u6765\u8d8a\u5c0f\u3001\u8d8a\u6765\u8d8a\u7b80\u7ea6\uff0c\u751a\u81f3\u53ef\u4ee5\u5c1d\u8bd5\u5728\u6beb\u7c73\u5c3a\u5ea6\u4e0a\u5bf9\u5176\u8fdb\u884c\u8bbe\u8ba1\u3002\u7136\u800c\uff0c\u786c\u4ef6\u5c0f\u578b\u5316\u4ee5\u53ca\u5c06\u8db3\u591f\u591a\u7684\u4f20\u611f\u5668\u5957\u4ef6\u8fdb\u884c\u96c6\u6210\u5e26\u6765\u7684\u6311\u6218\u963b\u788d\u4e86\u8fd9\u4e00\u53d1\u5c55\u8fdb\u7a0b\u3002\u4ec5\u4ec5\u51e0\u5e74\u540e\uff0ckilbot[30]\uff0c\u4e00\u4e2a\u652f\u63011000\u4e2a\u673a\u5668\u4eba\u5b9e\u9a8c\u7684\u786c\u4ef6\u6982\u5ff5\u51fa\u73b0\u4e86\u3002Kilobots\u7684\u8bbe\u8ba1\u521d\u8877\u662f\u5411\u4e3a\u7ed3\u6784\u5851\u6027[31]<\/span>\uff08shape formation\uff09<\/span>\u800c\u8bbe\u8ba1\u7684\u5927\u578b\u673a\u5668\u4eba\u96c6\u7fa4\u7684\u9996\u6b21\u6f14\u793a\u63d0\u4f9b\u652f\u6301\uff0c\u540e\u6765\u5b83\u53c8\u88ab\u8fd0\u7528\u4e8e\u51e0\u9879\u6210\u529f\u7684\u7814\u7a76\uff0c\u4f7f\u5f97\u96c6\u7fa4\u673a\u5668\u4eba\u80fd\u591f\u5728\u5177\u6709\u6570\u767e\u4e2a\u673a\u5668\u4eba\u7684\u7269\u7406\u73af\u5883\u4e2d\u8fdb\u884c\u6f14\u793a[32-34]\u3002<\/span><\/section>\n

<\/span><\/section>\n
<\/section>\n

\u56fe2. \u4e00\u4e9b\u4e3b\u8981\u7528\u4e8e\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u7684\u673a\u5668\u4eba\uff1a\uff08a\uff09jasmine [35]\uff08\u56fe\u6e90\u4e8e\u7ef4\u57fa\u5171\u4eab\u8d44\u6e90\uff09\uff1b\uff08b\uff09alice [36] \uff08\u7167\u7247\u7531Simon Garnier\u63d0\u4f9b\uff09\uff1b\uff08c\uff09kilobots [30]\uff08\u7167\u7247\u7531Massimo Berruti\u63d0\u4f9b\uff09\uff1b\uff08d\uff09e-pucks [37]\uff1b\uff08e\uff09swarm-bots [26]\uff1b\uff08f\uff09swarmanoid [29]<\/span><\/p>\n


<\/span><\/section>\n
\t\u96c6\u7fa4\u673a\u5668\u4eba\u5e76\u4e0d\u5c40\u9650\u4e8e\u5730\u9762\u5e73\u53f0\uff1a\u6700\u8fd1\u7684\u4e00\u4e9b\u5de5\u4f5c\u8003\u8651\u4e86\u6c34\u9762[38]\u548c\u6c34\u4e0b\u673a\u5668\u4eba[39]\uff0c\u4ee5\u53ca\u6210\u7fa4\u7684\u65e0\u4eba\u673a[40, 41]\u3002\u867d\u7136\u6c34\u751f\u6280\u672f\u548c\u6c34\u4e0b\u6280\u672f\u8fd8\u9700\u8981\u5927\u91cf\u7684\u5f00\u53d1\u52aa\u529b\u624d\u80fd\u6210\u719f\uff0c\u4f46\u662f\u65e0\u4eba\u673a\u5df2\u7ecf\u5546\u4e1a\u5316\uff0c\u5e76\u4e14\u5728\u4e0d\u540c\u9886\u57df\u7684\u9065\u611f\u5e94\u7528\u4e2d\u4ee3\u8868\u7740\u4e00\u4e2a\u975e\u5e38\u6709\u524d\u9014\u7684\u5e73\u53f0\uff0c\u76ee\u524d\u53ea\u662f\u7531\u4e8e\u7f3a\u4e4f\u6388\u6743\u81ea\u4e3b\u548c\u96c6\u4f53\u98de\u884c\u7684\u6cd5\u5f8b\u6846\u67b6\u800c\u53d7\u5230\u963b\u788d\u3002<\/span><\/section>\n

<\/span><\/section>\n
\t\u9664\u786c\u4ef6\u5e73\u53f0\u5916\uff0c\u5982\u4f55\u63a7\u5236\u673a\u5668\u4eba\u96c6\u7fa4\u5df2\u6210\u4e3a\u7814\u7a76\u7684\u4e3b\u8981\u7126\u70b9\u3002\u8fc4\u4eca\u4e3a\u6b62\u5df2\u6709\u4f17\u591a\u6587\u732e\u63d0\u4f9b\u4e86\u4e0d\u540c\u65b9\u6cd5\u7684\u62a5\u544a\uff0c\u7136\u800c\u8fd9\u8d85\u51fa\u4e86\u672c\u6587\u7684\u7814\u7a76\u8303\u7574<\/span>\uff08\u611f\u5174\u8da3\u7684\u8bfb\u8005\u53ef\u4ee5\u53c2\u9605[42-46]\uff09<\/span>\u3002\u76ee\u524d\u4e3b\u8981\u7684\u7814\u7a76\u65b9\u5411\u5305\u62ec\uff1a\u5f00\u53d1\u96c6\u7fa4\u7cfb\u7edf\u7684\u5206\u6790\u6a21\u578b\u6765\u6307\u5bfc\u673a\u5668\u4eba\u7684\u5b9e\u73b0[47\u201349]\uff1b\u91c7\u7528<\/span>\uff08\u8fdb\u5316\uff09<\/span>\u4f18\u5316\u65b9\u6cd5\uff0c\u4f7f\u7528\u6781\u7b80\u63a7\u5236\u5668<\/span>\uff08\u795e\u7ecf\u7f51\u7edc[50]\u3001\u65e0\u9700\u8ba1\u7b97\u7684\u63a7\u5236\u5668[51, 52]\u3001\u6709\u9650\u72b6\u6001\u673a[53]\uff0c\u6216\u662f\u57fa\u4e8e\u8bed\u6cd5\u7684\u63a7\u5236\u5668[54]\uff09<\/span>\u6765\u5f15\u5bfc\u673a\u5668\u4eba\uff1b\u5f00\u53d1\u8bbe\u8ba1\u548c\u9a8c\u8bc1\u65b9\u6cd5[20\uff0c55]\u3002\u6b63\u5982\u4e0b\u6587\u5c06\u8981\u8ba8\u8bba\u7684\uff0c\u5b9a\u4e49\u4e00\u4e2a\u53ef\u9760\u548c\u6709\u6548\u7684\u673a\u5668\u4eba\u96c6\u7fa4\u7684\u5de5\u7a0b\u65b9\u6cd5\u4ecd\u7136\u662f\u5f53\u524d\u7814\u7a76\u7684\u524d\u6cbf\uff0c\u672a\u6765\u51e0\u5e74\u4ecd\u9700\u5728\u8fd9\u65b9\u9762\u52aa\u529b\u3002<\/span><\/section>\n

<\/span><\/section>\n

\u8868 1. \u672f\u8bed\u8868<\/span><\/strong><\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
Adaptivity<\/span><\/section>\n
\u9002\u5e94\u6027<\/span><\/section>\n<\/td>\n
\n
\u5b66\u4e60\/\u6539\u53d8\u884c\u4e3a\u4ee5\u54cd\u5e94\u65b0\u64cd\u4f5c\u73af\u5883\u7684\u80fd\u529b\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Automatic design<\/span><\/section>\n
\u81ea\u52a8\u8bbe\u8ba1<\/span><\/section>\n<\/td>\n
\n
\u4e00\u79cd\u5f00\u53d1\u7528\u4e8e\u673a\u5668\u4eba\u96c6\u7fa4\u7684\u5236\u8f6f\u4ef6\u7684\u65b9\u6cd5\uff0c\u5176\u4e2d\u8bbe\u8ba1\u95ee\u9898\u88ab\u8f6c\u5316\u4e3a\u4f18\u5316\u95ee\u9898\u3002\u4e0d\u540c\u7684\u8bbe\u8ba1\u9009\u62e9\u5b9a\u4e49\u4e86\u4f18\u5316\u7b97\u6cd5\u6240\u63a2\u7d22\u7684\u641c\u7d22\u7a7a\u95f4\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Design pattern<\/span><\/section>\n
\u8bbe\u8ba1\u6a21\u5f0f<\/span><\/section>\n<\/td>\n
\n
\u5bf9\u67d0\u95ee\u9898\u7684\u53ef\u590d\u7528\u89e3\u51b3\u65b9\u6cd5\u7684\u6b63\u5f0f\u5b9a\u4e49\uff0c\u901a\u5e38\u5728\u67d0\u4e00\u9886\u57df\u91cd\u590d\u51fa\u73b0\u3002\u5728\u96c6\u7fa4\u673a\u5668\u4eba\u4e2d\u9886\u57df\u4e2d\uff0c\u8bbe\u8ba1\u6a21\u5f0f\u63cf\u8ff0\u4e86\u5982\u4f55\u5b9a\u4e49\u4e2a\u4f53\u89c4\u5219\u6765\u83b7\u53d6\u671f\u671b\u7684\u81ea\u7ec4\u7ec7\u5b8f\u89c2\u884c\u4e3a<\/span>\uff08\u4f8b\u5982\u96c6\u4f53\u51b3\u7b56\uff0c\u53c2\u89c1[20\uff0c21]\uff09<\/span>\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Evolutionary algorithms<\/span><\/section>\n
\u8fdb\u5316\u7b97\u6cd5<\/span><\/section>\n<\/td>\n
\n
\u4e00\u7c7b\u4f18\u5316\u7b97\u6cd5\uff0c\u5176\u4e2d\u521d\u59cb\u5019\u9009\u89e3\u51b3\u65b9\u6848\u96c6\u5408\u88ab\u751f\u6210\u5e76\u4e14\u901a\u8fc7\u67d0\u79cd\u673a\u5236\u88ab\u8fed\u4ee3\u5730\u66f4\u65b0\uff0c\u8be5\u673a\u5236\u53d7\u5230\u4e86\u751f\u7269\u6f14\u5316\u7684\u542f\u53d1\u3002\u89e3\u51b3\u65b9\u6848\u7684\u79cd\u7fa4\u901a\u8fc7\u6a21\u4eff\u91cd\u751f\u3001\u590d\u5236\u3001\u91cd\u65b0\u7ed3\u5408\u548c\u9009\u62e9\u7684\u81ea\u7136\u8fc7\u7a0b\u9010\u6e10\u6f14\u5316\u6765\u6700\u5927\u5316\u76ee\u6807\u51fd\u6570<\/span>\uff08\u9002\u5e94\u5ea6\uff09<\/span>\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Fault tolerance<\/span><\/section>\n
\u5bb9\u9519<\/span><\/section>\n<\/td>\n
\n
\u7cfb\u7edf\u627f\u53d7\u90e8\u5206\u90e8\u4ef6\u6545\u969c\u800c\u6027\u80fd\u4e0b\u964d\u7684\u80fd\u529b\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Flexibility<\/span><\/section>\n
\u7075\u6d3b\u6027<\/span><\/section>\n<\/td>\n
\n
\u89e3\u51b3\u4e0e\u8bbe\u8ba1\u65f6\u9009\u62e9\u7684\u95ee\u9898\u4e0d\u540c\u7684\u95ee\u9898<\/span>\uff08\u4efb\u52a1\uff09<\/span>\u7684\u80fd\u529b<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Model-free& model-based reinforcement learning<\/span><\/section>\n
\u65e0\u6a21\u578b\u548c\u57fa\u4e8e\u6a21\u578b\u7684\u5f3a\u5316\u5b66\u4e60<\/span><\/section>\n<\/td>\n
\n
\u5f3a\u5316\u5b66\u4e60\u7684\u4e24\u79cd\u4e0d\u540c\u7684\u65b9\u6cd5\uff0c\u673a\u5668\u5b66\u4e60\u7684\u5b50\u96c6\uff0c\u5176\u4e2d\u8f6f\u4ef6\u4ee3\u7406\u901a\u8fc7\u5c1d\u8bd5\u6700\u5927\u5316\u5176\u884c\u4e3a\u7684\u6fc0\u52b1\u51fd\u6570\u6765\u5b66\u4e60\u5728\u7ed9\u5b9a\u73af\u5883\u4e2d\u9ad8\u6548\u6267\u884c\u4efb\u52a1\u3002\u5728\u57fa\u4e8e\u6a21\u578b\u7684\u65b9\u6cd5\u4e2d\uff0c\u4ee3\u7406\u88ab\u7ed9\u5b9a\u6216\u8005\u5b66\u4e60\u67d0\u4e2a\u51fd\u6570\u6765\u5c06\u81ea\u8eab\u5f53\u524d\u72b6\u6001\u548c\u884c\u4e3a\u6620\u5c04\u5230\u4e0b\u4e00\u72b6\u6001<\/span>\uff08\u73af\u5883\u7684\u6a21\u578b\uff09<\/span>\uff0c\u4ee5\u81f3\u4e8e\u5b83\u80fd\u591f\u63d0\u524d\u77e5\u9053\u4e0b\u6b21\u52a8\u4f5c\u7684\u6536\u76ca\uff1b\u5728\u65e0\u6a21\u578b\u65b9\u6cd5\u4e2d\uff0c\u4ee3\u7406\u901a\u8fc7\u4e0d\u65ad\u8bd5\u9519\u6765\u627e\u5230\u597d\u7684\u7b56\u7565\uff0c\u800c\u4e0d\u76f4\u63a5\u501f\u52a9\u4e8e\u73af\u5883\u6a21\u578b\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Phase transition<\/span><\/section>\n
\u76f8\u53d8<\/span><\/section>\n<\/td>\n
\n
\u67d0\u79cd\u7269\u7406\u8fc7\u7a0b\uff0c\u5176\u4e2d\u7269\u8d28\u4ece\u4e00\u4e2a\u7269\u7406\u72b6\u6001\u53d8\u4e3a\u53e6\u4e00\u4e2a\u7269\u7406\u72b6\u6001\uff0c\u4f8b\u5982\u5c06\u6c34\u51b7\u51bb\u6210\u51b0<\/span>\uff08\u6db2\u4f53\u81f3\u56fa\u4f53\uff09<\/span>\u6216\u52a0\u70ed\u6c34\u4ee5\u4ea7\u751f\u6c34\u84b8\u6c14<\/span>\uff08\u6db2\u4f53\u81f3\u6c14\u4f53\uff09<\/span>\u3002\u751f\u7269\u7cfb\u7edf\u4e2d\u65e0\u5e8f\u548c\u6709\u5e8f\u72b6\u6001\u7684\u5b58\u5728\u4e0e\u7269\u7406\u60f0\u6027\u4e16\u754c\u4e2d\u7c7b\u4f3c\u72b6\u6001\u6216\u76f8\u4f4d\u7684\u5b58\u5728\u6709\u6b63\u5f0f\u7684\u7c7b\u6bd4\uff1a\u65e0\u5e8f-\u6db2\u4f53\uff0c\u6709\u5e8f-\u6676\u4f53\u56fa\u4f53\u3002\u8fd9\u4e9b\u7cfb\u7edf\u5728\u5404\u79cd\u72b6\u6001\u6216\u76f8\u4f4d\u4e4b\u95f4\u5b58\u5728\u76f8\u4f4d\u53d8\u5316\u3002\u7279\u522b\u5730\uff0c\u6709\u5e8f\u72b6\u6001\u7684\u7279\u5f81\u5728\u4e8e\u6574\u4e2a\u7cfb\u7edf\u5c3a\u5ea6\u4e0a\u7684\u987a\u5e8f\u6982\u5ff5\u53ef\u4ee5\u7528\u4e00\u4e2a\u6709\u5e8f\u53c2\u6570\u6765\u91cf\u5316<\/span>\uff08\u4f8b\u5982\uff0c\u9c7c\u7fa4\u7684\u6392\u5217\/\u6781\u5316\u7684\u8d28\u91cf\uff09\u3002<\/span><\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Robustness<\/span><\/section>\n
\u9c81\u68d2\u6027<\/span><\/section>\n<\/td>\n
\n
\u5728\u4e0d\u540c\u4e8e\u8bbe\u8ba1\u65f6\u6240\u8003\u8651\u7684\u73af\u5883\u6761\u4ef6\u4e0b\u7ee7\u7eed\u6709\u6548\u5de5\u4f5c\u7684\u80fd\u529b\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Scalability<\/span><\/section>\n
\u53ef\u6269\u5c55\u6027<\/span><\/section>\n<\/td>\n
\n
\u5f53\u7cfb\u7edf\u7ec4\u4ef6\u7684\u6570\u91cf<\/span>\uff08\u6216\u4e00\u822c\u6765\u8bf4\uff0c\u7cfb\u7edf\u8d44\u6e90\u7684\u6570\u91cf\uff09<\/span>\u53d1\u751f\u663e\u8457\u53d8\u5316\u65f6\uff0c\u7cfb\u7edf\u7ee7\u7eed\u6b63\u5e38\u8fd0\u884c\u7684\u80fd\u529b\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Self-organisation<\/span><\/section>\n
\u81ea\u7ec4\u7ec7<\/span><\/section>\n<\/td>\n
\n
\u7cfb\u7edf\u5168\u5c40\u7ea7\u522b\u4e0a\u7684\u6a21\u5f0f\u4ec5\u4ece\u7cfb\u7edf\u8f83\u4f4e\u7ea7\u522b\u7ec4\u4ef6\u4e4b\u95f4\u7684\u4ea4\u4e92\u4e2d\u51fa\u73b0\u7684\u8fc7\u7a0b\u3002\u6307\u5b9a\u7cfb\u7edf\u7ec4\u4ef6\u95f4\u4ea4\u4e92\u7684\u89c4\u5219\u53ea\u4f7f\u7528\u672c\u5730\u4fe1\u606f\u6267\u884c\uff0c\u800c\u6ca1\u6709\u4efb\u4f55\u4e2d\u592e\u96c6\u6743\u51b3\u5b9a\u5b83\u4eec\u7684\u884c\u52a8[1]\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
Stigmergy<\/span><\/section>\n<\/td>\n
\n
\u4e00\u79cd\u81ea\u7136\u6216\u4eba\u5de5\u4ee3\u7406\u4e4b\u95f4\u7684\u95f4\u63a5\u901a\u4fe1\u5f62\u5f0f\uff0c\u5176\u4e2d\u67d0\u4ee3\u7406\u6240\u6267\u884c\u7684\u5de5\u4f5c\u4f1a\u5728\u73af\u5883\u4e2d\u7559\u4e0b\u75d5\u8ff9\uff0c\u523a\u6fc0\u76f8\u540c\u6216\u5176\u4ed6\u4ee3\u7406\u6267\u884c\u540e\u7eed\u5de5\u4f5c\u3002\u901a\u8fc7\u73af\u5883\u7684\u8fd9\u79cd\u8c03\u89e3\u786e\u4fdd\u534f\u8c03\u4ee3\u7406\u5546\u6240\u6267\u884c\u7684\u884c\u52a8\u3002\u5b83\u6700\u65e9\u7531Grasse[22]\u63cf\u8ff0\uff0c\u5728\u652f\u6301\u7fa4\u4f53\u673a\u5668\u4eba\u7684\u81ea\u7ec4\u7ec7\u673a\u5236\u65b9\u9762\u53d1\u6325\u4e86\u91cd\u8981\u4f5c\u7528[23, 24]\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\n

<\/section>\n

<\/span><\/section>\n<\/h1>\n

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\n
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\n

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<\/svg><\/section>\n<\/section>\n<\/section>\n
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2. \u7ecf\u9a8c\u6559\u8bad\u548c\u5f00\u653e\u95ee\u9898<\/strong><\/strong><\/p>\n<\/section>\n

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<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


<\/p>\n

\u5c3d\u7ba1\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u6700\u7ec8\u76ee\u6807\u662f\u751f\u4ea7\u65b9\u6cd5\u548c\u5de5\u5177\uff0c\u4f7f\u5f97\u90e8\u7f72\u673a\u5668\u4eba\u96c6\u7fa4\u6765\u89e3\u51b3\u73b0\u5b9e\u4e16\u754c\u7684\u95ee\u9898\u6210\u4e3a\u53ef\u80fd\uff0c\u4f46\u76ee\u524d\u7684\u7126\u70b9\u4ecd\u7136\u662f\u79d1\u5b66\u7406\u89e3\u8fd9\u4e9b\u65b9\u6cd5\u548c\u5de5\u5177\u7684\u673a\u5236\u3002\u524d\u4e8c\u5341\u5e74\u7684\u7814\u7a76\u7559\u4e0b\u4e86\u5b9d\u8d35\u7684\u7ecf\u9a8c\u6559\u8bad\uff0c\u4e5f\u63d0\u51fa\u4e86\u4e00\u4e9b\u6709\u5f85\u89e3\u51b3\u7684\u5f00\u653e\u95ee\u9898\u3002<\/span><\/section>\n

<\/span><\/section>\n
\t\u9996\u5148\uff0c\u7814\u7a76\u4eba\u5458\u4e86\u89e3\u5230\uff0c\u76ee\u524d\u673a\u5668\u4eba\u96c6\u7fa4\u53ef\u4ee5\u6267\u884c\u7684\u4efb\u52a1\u7c7b\u578b\u53d7\u5230\u81ea\u4e3b\u673a\u5668\u4eba\u6709\u9650\u80fd\u529b\u7684\u5f3a\u70c8\u9650\u5236\u3002\u4e3a\u4e86\u5728\u96c6\u7fa4\u4e2d\u5de5\u4f5c\uff0c\u6bcf\u4e2a\u673a\u5668\u4eba\u5fc5\u987b\u80fd\u591f\u4e92\u52a8\u548c\u4ea4\u6d41\uff0c\u5e76\u4e14\u80fd\u591f\u8bc6\u522b\u540c\u4f34\u548c\u4ed6\u4eec\u7684\u5de5\u4f5c\u3002\u8fd9\u9700\u8981\u5b9a\u5236\u7684\u786c\u4ef6\u8bbe\u8ba1\u548c\u7279\u5b9a\u7684\u4f20\u611f\u3001\u5904\u7406\u548c\u4ea4\u4e92\u80fd\u529b\u3002\u76ee\u524d\u5728\u673a\u5668\u4eba\u786c\u4ef6\u548c\u63a7\u5236\u65b9\u9762\u7684\u5c40\u9650\u6027\u4ece\u4e24\u65b9\u9762\u9650\u5236\u4e86\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u7684\u590d\u6742\u6027\u3002\u4e00\u65b9\u9762\uff0c\u5df2\u6709\u7279\u5b9a\u7684\u673a\u5668\u4eba\u88ab\u5f00\u53d1\u51fa\u6765\u89e3\u51b3\u7279\u5b9a\u7684<\/span>\uff08\u73a9\u5177\u5f0f\u7684\uff09<\/span>\u95ee\u9898<\/span>\uff08\u4f8b\u5982\uff0ctermes [56]\u548ckilobots [30]\uff09<\/span>\u3002\u8fd9\u4e9b\u4f8b\u5b50\u5f00\u8f9f\u4e86\u65b0\u7684\u7814\u7a76\u65b9\u5411\uff0c\u4f46\u53ef\u91cd\u7528\u7ec4\u4ef6\u5e76\u975e\u603b\u53ef\u79fb\u690d\u5230\u4e0d\u540c\u7684\u4e0a\u4e0b\u6587\u73af\u5883\u4e2d\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u901a\u7528\u673a\u5668\u4eba<\/span>\uff08alice[19, 57]\u548ce-puck[37]\uff09<\/span>\u5df2\u7ecf\u88ab\u7528\u4e8e\u4ea7\u751f\u6982\u5ff5\u8bc1\u660e\uff0c\u901a\u5e38\u5904\u7406\u4e00\u4e9b\u7531\u81ea\u7ec4\u7ec7\u81ea\u7136\u7cfb\u7edf\u5728\u4eba\u5de5\u4e16\u754c\u4e2d\u6267\u884c\u7684\u7c7b\u4f3c\u4efb\u52a1<\/span>\uff08\u4f8b\u5982\uff0c\u89c5\u98df[13, 34]\uff09<\/span>\u7684\u76f4\u63a5\u8f6c\u6362\u4efb\u52a1\u3002\u7136\u800c\uff0c\u5f53\u786c\u4ef6\u4e0d\u662f\u4e3a\u96c6\u7fa4\u673a\u5668\u4eba\u8bbe\u8ba1\u65f6\uff0c\u65e5\u5e38\u5de5\u4f5c\u53ef\u80fd\u4f1a\u53d8\u5f97\u975e\u5e38\u7e41\u7410\uff1a\u8fd9\u662f\u56e0\u4e3a\u7814\u7a76\u4eba\u5458\u9700\u8981\u540c\u65f6\u5904\u7406\u6570\u5341\u4e2a\u6216\u53ef\u80fd\u6570\u767e\u4e2a\u673a\u5668\u4eba\uff0c\u4ece\u800c\u4f7f\u5f97\u7b80\u5355\u64cd\u4f5c<\/span>\uff08\u4f8b\u5982\u5145\u7535\u6216\u4e0a\u4f20\u8f6f\u4ef6\uff09<\/span>\u53d8\u5f97\u975e\u5e38\u5197\u957f\u7e41\u7410\u3002\u8fd9\u5f80\u5f80\u9650\u5236\u4e86\u88ab\u6d4b\u8bd5\u96c6\u7fa4\u4e2d\u673a\u5668\u4eba\u7684\u6570\u91cf\uff0c\u964d\u4f4e\u4e86\u6f14\u793a\u7684\u5e7f\u5ea6\u548c\u91cd\u8981\u6027\u3002\u6700\u540e\uff0c\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u5bf9\u4e8e\u5b9e\u9a8c\u5ba4\u4e2d\u4f7f\u7528\u5927\u91cf\u96c6\u7fa4\u7684\u5b9e\u9a8c\u548c\u8bb8\u591a\u672a\u6765\u7684\u5e94\u7528\u7a0b\u5e8f\u800c\u8a00\uff0c\u786c\u4ef6\u5c0f\u578b\u5316\u5c06\u662f\u4e00\u4e2a\u5173\u952e\u5143\u7d20\u3002\u4f46\u662f\u786c\u4ef6\u89c4\u6a21\u7684\u7f29\u5c0f\u5e26\u6765\u4e86\u6781\u5176\u56f0\u96be\u7684\u95ee\u9898\uff0c\u5230\u76ee\u524d\u4e3a\u6b62\uff0c\u8fd9\u4e9b\u95ee\u9898\u5c1a\u672a\u89e3\u51b3[58]\u3002<\/span><\/section>\n

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\t\u4e3a\u4e86\u63a8\u52a8\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u7684\u8fdb\u7a0b\uff0c\u7814\u7a76\u4eba\u5458\u9700\u8981\u5f00\u53d1\u5de5\u5177\u4f7f\u5f97\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u7814\u7a76\u4eba\u5458\u66f4\u5bb9\u6613\u5206\u4eab\u7ed3\u679c\u548c\u590d\u73b0\u5b9e\u9a8c\u3002\u4e00\u4e9b\u901a\u7528\u673a\u5668\u4eba\u5e73\u53f0\u5219\u662f\u975e\u5e38\u6709\u4ef7\u503c\u7684\u5de5\u5177\u3002e-puck[37]\u53ef\u80fd\u662f\u8fc4\u4eca\u4e3a\u6b62\u4f7f\u7528\u6700\u591a\u7684\u96c6\u7fa4\u673a\u5668\u4eba\u5e73\u53f0\uff0c\u4f46\u662f\u5f53e-puck\u7684\u4e2a\u6570\u8d85\u8fc730\u4e2a\u65f6\uff0c\u7814\u7a76\u6d3b\u52a8\u5c06\u53d8\u5f97\u975e\u5e38\u590d\u6742\u548c\u6602\u8d35\u3002\u4e13\u4e3a\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u800c\u8bbe\u8ba1Kilobot\u88ab\u5e7f\u6cdb\u5e94\u7528\uff0c\u4f46\u5176\u80fd\u529b\u4e25\u91cd\u53d7\u9650\uff0c\u4ee5\u81f3\u4e8e\u865a\u62df\u5316\u73af\u5883\u88ab\u63d0\u51fa\u4ece\u800c\u589e\u52a0\u7814\u7a76\u7684\u53ef\u80fd\u6027[59, 60]\u3002\u867d\u7136Crazyflies[61]\u4e0d\u662f\u4e3a\u96c6\u7fa4\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u800c\u8bbe\u60f3\u7684\uff0c\u5b83\u4eec\u4e5f\u8d8a\u6765\u8d8a\u591a\u5730\u88ab\u7528\u4f5c\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u7684\u98de\u884c\u5e73\u53f0[41]\u3002\u7814\u7a76\u4eba\u5458\u4ecd\u7136\u9700\u8981\u5927\u91cf\u7684\u52aa\u529b\u6765\u7814\u53d1\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u786c\u4ef6\uff0c\u4ece\u800c\u6ee1\u8db3\u7814\u7a76\u56e2\u4f53\u7684\u9700\u8981\u3002\u9996\u5148\uff0c\u7814\u7a76\u4eba\u5458\u5fc5\u987b\u5728\u6210\u672c\u3001\u5c3a\u5bf8\u548c\u677f\u8f7d\u7279\u6027\u4e4b\u95f4\u627e\u5230\u4e00\u4e2a\u5f88\u597d\u7684\u6298\u4e2d\u65b9\u6848\uff0c\u786e\u4fdd\u62e5\u6709\u8db3\u591f\u4e30\u5bcc\u7684\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\uff0c\u540c\u65f6\u4fdd\u6301\u5c3a\u5bf8\u7684\u9650\u5236\uff0c\u4ee5\u4fbf\u5728\u5b9e\u9a8c\u5ba4\u4e2d\u8fdb\u884c\u6570\u767e\u4e2a\u673a\u5668\u4eba\u7684\u5b9e\u9a8c\u3002\u636e\u6b64\uff0c\u4ecb\u4e8ekilobot\u548ce-puck<\/span>\uff08\u76f4\u5f84\u7ea65\u5398\u7c73\uff09<\/span>\u4e4b\u95f4\u7684\u5c3a\u5bf8\u53ef\u80fd\u662f\u4e00\u4e2a\u5f88\u597d\u7684\u6298\u8877\u65b9\u6848\u3002e-puck\u7684\u6210\u529f\u6765\u81ea\u4e8e\u5176\u91c7\u7528\u7684\u6a21\u5757\u5316\u65b9\u6cd5\uff0c\u4f7f\u5f97\u65b0\u7684\u4f20\u611f\u5668\u3001\u6267\u884c\u5668\u6216\u8ba1\u7b97\u80fd\u529b\u80fd\u591f\u8fdb\u884c\u63d2\u4ef6\u6269\u5c55\uff0c\u4f46\u8fd9\u9700\u8981\u7cbe\u5fc3\u7684\u8bbe\u8ba1<\/strong>\u3002\u5f53\u5904\u7406\u5927\u91cf\u6570\u636e\u65f6\uff0c\u5c24\u5176\u662f\u79fb\u52a8\u673a\u5668\u4eba\u4e0d\u9700\u8981\u4eba\u5de5\u5e72\u9884\u65f6\uff08\u4f8b\u5982\uff0c\u5c06\u65e0\u7ebf\u5145\u7535\u7ad9\u96c6\u6210\u5230\u5b9e\u9a8c\u73af\u5883\u4e2d\u65f6\uff0c\u6216\u8005\u4f7f\u7528\u7535\u52a8\u5730\u677f\u8fdb\u884c\u65e0\u7535\u6c60\u64cd\u4f5c\u65f6\uff09\uff0c\u540c\u65f6\u5bf9\u591a\u4e2a\u673a\u5668\u4eba\u8fdb\u884c\u7f16\u7a0b\u548c\u5145\u7535\u7684\u53ef\u80fd\u6027<\/span>\uff08\u4f7f\u7528kilobots\uff09<\/span>\u4f1a\u6781\u5927\u7b80\u5316\u5b9e\u9a8c\u6d3b\u52a8\u3002\u4e00\u4e2a\u80fd\u591f\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u72b6\u6001\u3001\u79fb\u52a8\u673a\u5668\u4eba\u3001\u8bb0\u5f55\u5b83\u4eec\u6240\u83b7\u6570\u636e\u5e76\u4e14\u5b9e\u73b0\u5b9e\u9a8c\u6d3b\u52a8\u81ea\u52a8\u5316\u7684\u96c6\u4e2d\u7cfb\u7edf\u5c06\u4f1a\u52a0\u5feb\u7814\u7a76\u7684\u8fdb\u7a0b\uff0c\u5e76\u4e14\u6781\u5927\u5730\u9020\u798f\u5168\u4e16\u754c\u3002<\/span><\/section>\n

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\t\u5728\u4f17\u591a\u53ef\u7528\u7684\u4eff\u771f\u8f6f\u4ef6\u4e2d\uff0cARGoS[63]\u5728\u652f\u6301\u96c6\u7fa4\u673a\u5668\u4eba\u7814\u7a76\u65b9\u9762\u8868\u73b0\u7a81\u51fa\u3002ARGoS\u901a\u8fc7\u5de7\u5999\u7684\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u5e76\u884c\u4eff\u771f\u7684\u53ef\u80fd\u6027\uff0c\u4f7f\u5f97\u591a\u8fbe10000\u4e2a\u673a\u5668\u4eba\u8fdb\u884c\u5b9e\u65f6\u52a8\u6001\u4eff\u771f\u6210\u4e3a\u53ef\u80fd\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u5305\u62ec\u4e86\u4e00\u4e9b\u6700\u5e38\u7528\u7684\u96c6\u7fa4\u673a\u5668\u4eba\u6a21\u578b<\/span>\uff08e-pucks\u548ckilbots\uff09<\/span>\u3002\u53e6\u4e00\u4e2a\u6709\u8da3\u7684\u4f8b\u5b50\u662fFlightmare[64]\u3002\u5b83\u662f\u4e00\u4e2a<\/span>\uff08\u591a\uff09<\/span>\u65e0\u4eba\u673a\u6a21\u62df\u5668\uff0c\u80fd\u591f\u5bf9\u73af\u5883\u8fdb\u884c\u903c\u771f\u7684\u6e32\u67d3\uff0c\u5bf9\u89c6\u89c9\u5bfc\u822a\u548c\u9065\u611f\u7684\u7814\u7a76\u975e\u5e38\u6709\u7528\u3002\u4e3a\u4e86\u5728\u7ecf\u9a8c\u4e0a\u63d0\u9ad8\u5e76\u5f00\u53d1\u4e00\u4e2a\u80fd\u591f\u54cd\u5e94\u96c6\u7fa4\u673a\u5668\u4eba\u793e\u533a\u7684\u9700\u6c42<\/span>\uff08\u540c\u65f6\u89e3\u51b3\u6a21\u62df-\u73b0\u5b9e\u5dee\u8ddd\uff09<\/span>\u7684\u5de5\u5177\uff0c\u7814\u7a76\u4eba\u5458\u9700\u8981\u89e3\u51b3\u548c\u6539\u8fdb\u51e0\u4e2a\u5730\u65b9\u3002\u4f8b\u5982\uff0c\u7814\u7a76\u4eba\u5458\u5c06\u9700\u8981\u8bbe\u6cd5\u6539\u8fdb\u611f\u77e5\u7684\u6a21\u62df\u4ee5\u53ca\u7269\u7406<\/span>\uff08\u673a\u5668\u4eba-\u673a\u5668\u4eba\u4ee5\u53ca\u673a\u5668\u4eba-\u73af\u5883\uff09<\/span>\u548c\u975e\u7269\u7406<\/span>\uff08\u901a\u4fe1\uff09<\/span>\u4ea4\u4e92\u7684\u6a21\u62df\u3002\u6a21\u62df\u5e94\u8be5\u4ee5\u4e0d\u540c\u7684\u4fdd\u771f\u5ea6\u6765\u90e8\u7f72\uff0c\u5141\u8bb8\u7528\u6237\u5728\u901f\u5ea6\u548c\u7cbe\u5ea6\u4e4b\u95f4\u9009\u62e9\u5e73\u8861\u3002\u5728\u5927\u591a\u6570\u60c5\u51b5\u4e0b\uff0c\u9ad8\u4fdd\u771f\u4eff\u771f\u4e0d\u662f\u5f3a\u5236\u6027\u7684\uff0c\u4f46\u5b83\u4eec\u7684\u53ef\u7528\u6027\u5c06\u6781\u5927\u5730\u7b80\u5316\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u8fc7\u6e21\uff0c\u652f\u6301\u5728\u771f\u6b63\u7684\u673a\u5668\u4eba\u4e0a\u8fd0\u884c\u5e7f\u6cdb\u7684\u6d4b\u8bd5\u3002\u63d0\u9ad8\u6a21\u62df\u7684\u53ef\u7528\u6027\u4e5f\u662f\u5fc5\u8981\u7684\uff0c\u8fd9\u53ef\u4ee5\u901a\u8fc7\u63d0\u9ad8\u6a21\u62df\u901f\u5ea6\u4ee5\u53ca\u63d0\u4f9b\u66f4\u7b80\u5355\u7684\u5904\u7406\u548c\u63a7\u5236\u6a21\u62df\u673a\u5668\u4eba\u53ca\u5176\u90e8\u7f72\u73af\u5883\u7684\u65b9\u6cd5\u6765\u5b9e\u73b0\u3002\u6a21\u62df\u5e94\u8be5\u662f\u9ad8\u5ea6\u53ef\u914d\u7f6e\u7684\uff0c\u4ee5\u54cd\u5e94\u591a\u5143\u5316\u7814\u7a76\u793e\u533a\u7684\u9700\u6c42\u3002\u540c\u65f6\uff0c\u5efa\u7acb\u4e00\u4e2a\u65b0\u7684\u6a21\u62df\u914d\u7f6e\u65e0\u9700\u5177\u6709\u4e0e\u8f6f\u4ef6\u5185\u90e8\u8fd0\u884c\u76f8\u5173\u7684\u4e13\u5bb6\u77e5\u8bc6\u3002\u6700\u540e\uff0c\u5c06\u6a21\u62df\u6846\u67b6\u4e0e\u6807\u51c6\u673a\u5668\u4eba\u5de5\u5177\u548c\u5e93<\/span>\uff08\u4f8b\u5982\uff0cROS\uff09<\/span>\u8fdb\u884c\u96c6\u6210\u5e76\u5141\u8bb8\u9762\u5411\u673a\u5668\u4eba\u5e73\u53f0\u7684\u4ea4\u53c9\u7f16\u8bd1\u975e\u5e38\u91cd\u8981\u7684\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u7528\u771f\u5b9e\u7684\u673a\u5668\u4eba\u6765\u6d4b\u8bd5\u5728\u6a21\u62df\u4e2d\u5f00\u53d1\u7684\u4ee3\u7801\uff0c\u800c\u4e0d\u9700\u8981\u4efb\u4f55\u66f4\u6539\u6216\u8c03\u6574\u3002<\/span><\/section>\n

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3. \u65b0\u65b9\u5411\u548c\u65b0\u95ee\u9898<\/strong><\/strong><\/p>\n<\/section>\n

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A. \u786c\u4ef6\u5c0f\u578b\u5316<\/span><\/strong><\/span><\/section>\n

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\t\u96c6\u7fa4\u673a\u5668\u4eba\u6280\u672f\u7684\u76ee\u6807\u4e4b\u4e00\u662f\u8bbe\u8ba1\u548c\u63a7\u5236\u6570\u4ee5\u5343\u8ba1\u7684\u7b80\u5355\u673a\u5668\u4eba\uff0c\u5b9e\u73b0\u7531\u7b80\u5355\u7684\u4e2a\u4f53\u884c\u4e3a\u548c\u5927\u91cf\u4ea4\u4e92\u4ea7\u751f\u7684\u96c6\u7fa4\u7ea7\u522b\u7684\u590d\u6742\u884c\u4e3a\u3002\u80fd\u591f\u6700\u5927\u9650\u5ea6\u53d1\u6325\u96c6\u7fa4\u673a\u5668\u4eba\u672a\u6765\u5f71\u54cd\u7684\u4e00\u4e2a\u65b9\u9762\u662f\u5f00\u53d1\u6570\u4ee5\u5343\u8ba1\u7684\u5fae\u578b\u673a\u5668\u4eba\uff0c\u5176\u5c3a\u5bf8\u53ef\u4ee5\u7f29\u5c0f\u5230\u6beb\u7c73\u751a\u81f3\u5fae\u7c73\u6216\u7eb3\u7c73\u5c3a\u5ea6\u3002\u8fd9\u6837\u7684\u96c6\u7fa4\u53ef\u4ee5\u8fdb\u5165\u72ed\u5c0f\u7684\u5bc6\u95ed\u7a7a\u95f4<\/span>\uff08\u4f8b\u5982\uff0c\u5fae\u6d41\u4f53\u901a\u9053\u548c\u4eba\u4f53\uff09<\/span>\u3001\u64cd\u7eb5\u5fae\u89c2\u7269\u4f53<\/span>\uff08\u4f8b\u5982\uff0c\u5fae\u5851\u6599\u6216\u5355\u4e2a\u7ec6\u80de\uff09<\/span>\u4ee5\u53ca\u81ea\u7ec4\u7ec7\u4e3a\u5c40\u90e8\u6cbb\u7597\u63d0\u4f9b\u652f\u6301<\/span>\uff08\u4f8b\u5982\uff0c\u9776\u5411\u836f\u7269\u8f93\u9001\uff09<\/span>\u3002\u8fc4\u4eca\u4e3a\u6b62\u7684\u7814\u7a76\u53ea\u89e6\u6478\u5230\u4e86\u4e00\u4e2a\u5177\u6709\u5de8\u5927\u6f5c\u529b\u7684\u9886\u57df\u7684\u76ae\u6bdb\u3002\u7136\u800c\uff0c\u7f29\u5c0f\u673a\u5668\u4eba\u5c3a\u5bf8\u7ed9\u96c6\u7fa4\u673a\u5668\u4eba\u63d0\u4f9b\u5207\u5b9e\u53ef\u884c\u7684\u89e3\u51b3\u65b9\u6848\u5e26\u6765\u4e86\u65b0\u7684\u6311\u6218\u3002\u5fae\u578b\u673a\u5668\u4eba\u548c\u7eb3\u7c73\u673a\u5668\u4eba\u9762\u4e34\u7740\u4e0e\u5b8f\u89c2\u5c3a\u5ea6\u4e0d\u540c\u7684\u7269\u7406\u5b9a\u5f8b\uff0c\u9700\u8981\u65b0\u7684\u7fa4\u4f53\u884c\u4e3a\u6a21\u5f0f\u3002\u5f53\u524d\u7684\u5fae\u578b\u673a\u5668\u4eba\u548c\u7eb3\u7c73\u673a\u5668\u4eba\u5e76\u975e\u5229\u7528\u4f20\u7edf\u7684\u786c\u4ef6\uff0c\u800c\u662f\u7531\u6d3b\u6027\u80f6\u4f53\u7c92\u5b50[77]\u3001\u8f6f\u4f53<\/span>\uff08\u751f\u7269\uff09<\/span>\u673a\u5668\u4eba[78]\u3001\u7ec6\u83cc\u9a71\u52a8\u7684\u7eb3\u7c73\u673a\u5668[79\uff0c80]\uff0c\u751a\u81f3\u662f\u53ef\u63a7\u7684\u57fa\u56e0\u5de5\u7a0b\u751f\u7269\u4f53[81]\u7ec4\u6210\u3002\u5728\u6b64\u7c7b\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u548c\u63a7\u5236\u7fa4\u4f53\u884c\u4e3a\u5c06\u9700\u8981\u65b0\u7684\u8303\u5f0f\uff0c\u56e0\u4e3a\u7cbe\u786e\u63a7\u5236\u4e2a\u4f53\u884c\u4e3a\u7684\u80fd\u529b\u4f1a\u88ab\u5f3a\u5236\u9650\u5236\u3002\u6b64\u5916\uff0c\u6574\u5408\u4f20\u7edf\u7684\u611f\u77e5\u548c\u884c\u52a8\u65b9\u5f0f\u6781\u5177\u6311\u6218\u6027[82]\uff0c\u7814\u7a76\u4eba\u5458\u9700\u8981\u91cd\u65b0\u601d\u8003\u8bbe\u8ba1\u548c\u63a7\u5236\u6b64\u7c7b\u96c6\u7fa4\u7684\u7b56\u7565\u3002\u603b\u4f53\u800c\u8a00\uff0c\u7814\u7a76\u5e94\u4fa7\u91cd\u4e8e\u5229\u7528\u5c11\u6570\u4e0d\u53ef\u9760\u4f20\u611f\u5668\u3001\u6781\u5c11\u6216\u5b8c\u5168\u7f3a\u4e4f\u8ba1\u7b97\u80fd\u529b\u4ee5\u53ca\u4e0d\u53ef\u9760\u884c\u4e3a\u7684\u63a7\u5236\u65b9\u6cd5[51\uff0c52]\u3002\u8bbe\u8ba1\u786c\u4ef6\u4ee5\u5448\u73b0\u81ea\u7ec4\u7ec7\u7279\u6027\u7684\u89e3\u51b3\u65b9\u6848\u4e5f\u662f\u5408\u7406\u7684 [83\uff0c84]\uff0c\u5c3d\u7ba1\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u7075\u6d3b\u548c\u81ea\u9002\u5e94\u7684\u884c\u4e3a\u8f83\u96be\u83b7\u5f97\u3002\u5728\u6240\u6709\u8fd9\u4e9b\u60c5\u51b5\u4e0b\uff0c\u5f15\u5bfc\u81ea\u7ec4\u7ec7\u6bd4\u5c1d\u8bd5\u76f4\u63a5\u63a7\u5236\u66f4\u6709\u4ef7\u503c\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
B. \u5f02\u6784\u6027<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
\t\u540c\u6784\u6027\u5047\u8bbe\u4ecd\u7136\u666e\u904d\u5b58\u5728\u4e8e\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u7814\u7a76\u4e2d\uff1a\u6240\u6709\u7684\u673a\u5668\u4eba\u90fd\u662f\u76f8\u540c\u7684\u5e76\u8fd0\u884c\u76f8\u540c\u7684\u63a7\u5236\u8f6f\u4ef6\uff0c\u5b83\u4eec\u90fd\u662f\u53ef\u66ff\u6362\u7684\uff0c\u53ea\u6709\u4e0e<\/span>\uff08\u793e\u4f1a\uff09<\/span>\u73af\u5883\u4ea4\u4e92\u7684\u4e2a\u4f53\u5386\u53f2\u624d\u80fd\u5bfc\u81f4\u67d0\u79cd\u7279\u5b9a\u884c\u4e3a\u7684\u8868\u8fbe\u3002\u8fd9\u4e2a\u5047\u8bbe\u8d77\u6e90\u4e8e\u7fa4\u4f53\u884c\u4e3a\u7684\u7406\u8bba\u6a21\u578b\uff0c\u5b83\u901a\u5e38\u7b80\u5316\u590d\u6742\u73b0\u8c61\u4ee5\u83b7\u5f97\u6613\u5904\u7406\u6027\u3002\u4e8b\u5b9e\u4e0a\uff0c\u540c\u6784\u7cfb\u7edf\u4e2d\u7684\u81ea\u7ec4\u7ec7\u901a\u5e38\u8db3\u4ee5\u89e3\u91ca\u5b9e\u9a8c\u89c2\u5bdf[1]\u3002\u7136\u800c\uff0c\u81ea\u7136\u96c6\u7fa4\u7684\u4e0d\u540c\u4e2a\u4f53\u5728\u751f\u7406\u548c\u884c\u4e3a\u4e0a\u53ef\u80fd\u6781\u4e3a\u4e0d\u540c\uff0c\u800c\u4e2a\u4f53\u7684\u7279\u70b9\u4f1a\u5f71\u54cd\u5bf9\u73af\u5883\u548c\u793e\u4f1a\u7ebf\u7d22\u7684\u53cd\u5e94[85]\u3002\u5f02\u6784\u6027\u88ab\u8ba4\u4e3a\u662f\u8d4b\u4e88\u7fa4\u4f53\u884c\u4e3a\u7075\u6d3b\u6027\u3001\u65b0\u6761\u4ef6\u9002\u5e94\u6027\u53ca\u5e94\u5bf9\u5916\u90e8\u6270\u52a8\u6062\u590d\u529b\u7684\u57fa\u7840\u3002\u8fd9\u4e9b\u529f\u80fd\u6709\u76ca\u4e8e\u96c6\u7fa4\u673a\u5668\u4eba\uff0c\u4f46\u5f02\u6784\u6027\u5e76\u6ca1\u6709\u5f97\u5230\u5e94\u6709\u7684\u5145\u5206\u5229\u7528\u3002\u524d\u6587\u63d0\u53ca\u7684Swarmanoid \u9879\u76ee\u901a\u8fc7\u7814\u7a76\u7269\u7406\u5f02\u6784\u673a\u5668\u4eba\u96c6\u7fa4\u4e2d\u7684\u534f\u8c03\u7fa4\u4f53\u884c\u4e3a\uff0c\u8bc1\u660e\u4e86\u4e00\u4e2a\u53ef\u80fd\u7684\u65b9\u5411[29]\u3002\u5176\u4ed6\u5f3a\u5927\u7684\u534f\u4f5c\u5f62\u5f0f\u5141\u8bb8\u521d\u59cb\u540c\u6784\u7684\u673a\u5668\u4eba\u5b66\u4e60\u4e0d\u540c\u7684\u884c\u4e3a\uff0c\u5f53\u8fd9\u4f7f\u7fa4\u4f53\u8868\u73b0\u53d7\u76ca\u65f6\uff0c\u8fd9\u4e9b\u5f62\u5f0f\u5c31\u4f1a\u4e0e\u7279\u5b9a\u4efb\u52a1\u6302\u94a9\u3002\u7136\u800c\uff0c\u89e3\u51b3\u5f02\u6784\u5b9e\u4f53\u6240\u5c55\u793a\u7684\u81ea\u7ec4\u7ec7\u884c\u4e3a\u7684\u590d\u6742\u6027\u4ecd\u975e\u5e38\u5177\u6709\u6311\u6218\u6027\uff0c\u4f46\u6709\u671b\u4e3a\u6574\u4e2a\u9886\u57df\u5e26\u6765\u5de8\u5927\u7684\u8fdb\u6b65\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
C. \u53bb\u4e2d\u5fc3\u5316vs\u5c42\u7ea7\u7ed3\u6784<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
\t\u4e00\u5f00\u59cb\uff0c\u96c6\u7fa4\u673a\u5668\u4eba\u5c31\u91c7\u7528\u4e86\u81ea\u7ec4\u7ec7\u8303\u5f0f\uff0c\u5176\u4e2d\u7fa4\u4f53\u63a7\u5236\u662f\u901a\u8fc7\u7b80\u5355\u7684<\/span>\uff08\u968f\u673a\uff09<\/span>\u89c4\u5219\u83b7\u5f97\u7684\uff0c\u8fd9\u4e9b\u89c4\u5219\u5b9a\u4e49\u4e86\u673a\u5668\u4eba\u4e4b\u95f4\u53ca\u4e0e\u73af\u5883\u4e4b\u95f4\u7684\u4ea4\u4e92\u65b9\u5f0f\uff0c\u800c\u4e0d\u9700\u8981\u5229\u7528\u4efb\u4f55\u5f62\u5f0f\u7684\u96c6\u4e2d\u63a7\u5236\u6216\u5168\u5c40\u77e5\u8bc6\u3002\u7136\u800c\uff0c\u5728\u8bb8\u591a\u60c5\u51b5\u4e0b\uff0c\u96c6\u4e2d\u5f0f\u6216\u5206\u5c42\u5f0f\u63a7\u5236\u5f62\u5f0f\u53ef\u4ee5\u4f7f\u8bbe\u8ba1\u548c\u63a7\u5236\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u95ee\u9898\u53d8\u5f97\u66f4\u5bb9\u6613\u3002\u5728\u8bb8\u591a\u52a8\u7269\u793e\u4f1a\u4e2d\uff0c\u7b49\u7ea7\u5236\u5ea6\u5e38\u4e0e\u81ea\u7ec4\u7ec7\u5e76\u5b58\uff0c\u8fd9\u4e00\u4e8b\u5b9e\u4e5f\u53ef\u80fd\u8bc1\u660e\u5f15\u5165\u67d0\u79cd\u5f62\u5f0f\u7684\u5c42\u7ea7\u63a7\u5236\u662f\u5408\u7406\u7684[86][87]\u3002\u4e0d\u5e78\u7684\u662f\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5c06\u9700\u8981\u5f15\u5165\u4f7f\u7cfb\u7edf\u53d8\u5f97\u8106\u5f31<\/span>\uff08\u5355\u70b9\u6545\u969c\uff09<\/span>\u548c\u96be\u4ee5\u6269\u5c55\u7684\u673a\u5236\u3002<\/span><\/section>\n

<\/span><\/section>\n
\t\u9009\u62e9\u53bb\u4e2d\u5fc3\u5316\u8fd8\u662f\u5c42\u7ea7\u7ed3\u6784\uff0c\u6216\u8005\u5982\u4f55\u6574\u5408\u4e24\u8005\uff0c\u8fd9\u4e9b\u95ee\u9898\u76ee\u524d\u5c1a\u672a\u5f97\u5230\u5145\u5206\u7684\u7814\u7a76\u3002\u5728\u8fd9\u4e2a\u65b9\u5411\u4e0a\uff0c\u6587\u732e[88]\u9996\u5148\u63d0\u51fa\u521b\u5efa\u6df7\u5408\u7cfb\u7edf\uff0c\u5176\u4e2d\u7531\u81ea\u7ec4\u7ec7\u8fc7\u7a0b\u4ea7\u751f\u7684\u5c42\u7ea7\u63a7\u5236\u7ed3\u6784\u53ef\u4ee5\u4ee5\u4e00\u79cd\u7279\u6b8a\u7684\u65b9\u5f0f\u52a8\u6001\u51fa\u73b0\u3002\u8fd9\u4e0e\u67d0\u4e9b\u96c6\u7fa4\u4e2d\u53d1\u751f\u7684\u60c5\u51b5\u7c7b\u4f3c\uff0c\u5176\u4e2d\u81ea\u7ec4\u7ec7\u8fc7\u7a0b\u4f1a\u5bfc\u81f4\u7ebf\u6027\u5c42\u6b21\u7ed3\u6784\u7684\u5f62\u6210\u548c\u5355\u4f53\u7e41\u6b96\u4e2a\u4f53\u7684\u51fa\u73b0[87]\u3002Mathew\u7b49\u4eba[88]\u521b\u5efa\u4e86\u4e00\u79cd\u57fa\u7840\u8bbe\u65bd\u2014\u2014\u4e2d\u95f4\u4ef6<\/span>\uff08middleware\uff09<\/span>\uff0c\u5141\u8bb8\u96c6\u7fa4\u673a\u5668\u4eba\u4ece\u7eaf\u7cb9\u7684\u81ea\u7ec4\u7ec7\u63a7\u5236\u81ea\u52a8\u5207\u6362\u5230\u5c42\u7ea7\u63a7\u5236\uff0c\u7136\u540e\u518d\u81ea\u52a8\u5207\u6362\u56de\u6765\u3002\u867d\u7136\u5b9e\u9a8c\u5df2\u7ecf\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u7684\u53ef\u884c\u6027[88\uff0c89]\uff0c\u5982\u4f55\u5c06\u5141\u8bb8\u521b\u5efa\u5c42\u7ea7\u63a7\u5236\u7ed3\u6784\u7684\u89c4\u5219\u8bbe\u8ba1\u6210\u96c6\u7fa4\u673a\u5668\u4eba\u5fc5\u987b\u6267\u884c\u7684\u4efb\u52a1\u7684\u51fd\u6570\uff0c\u4ee5\u53ca\u5982\u4f55\u5b9e\u73b0\u7531\u7eaf\u81ea\u7ec4\u7ec7\u63a7\u5236\u5230\u5c42\u7ea7\u63a7\u5236\u7684\u8f6c\u53d8<\/span>\uff08\u4ee5\u53ca\u76f8\u53cd\u7684\u8fc7\u7a0b\uff09<\/span>\u4f5c\u4e3a\u4efb\u52a1\u7684\u51fd\u6570\u548c\u73af\u5883\u7684\u51fd\u6570\u88ab\u6fc0\u6d3b\uff0c\u7406\u89e3\u8fd9\u4e9b\u95ee\u9898\u4ecd\u9700\u8981\u5927\u91cf\u7684\u5de5\u4f5c\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
D. \u76f8\u53d8\u4e0e\u9002\u5e94\u6027<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
\t\u5728\u73b0\u5b9e\u4e16\u754c\u7684\u73af\u5883\u4e2d\uff0c\u96c6\u7fa4\u673a\u5668\u4eba\u9762\u5bf9\u7684\u4e3b\u8981\u6311\u6218\u662f\u9002\u5e94\u610f\u5916\u4e8b\u4ef6\u7684\u53d1\u751f\uff0c\u4f8b\u5982\uff0c\u969c\u788d\u7269\u7684\u5b58\u5728\u53ca\u4e0d\u65ad\u53d8\u5316\u7684\u5927\u6c14\u6761\u4ef6<\/span>\uff08\u4f8b\u5982\u5149\u7167\u3001\u98ce\u3001\u964d\u6c34\uff09<\/span>\u3002\u6240\u6709\u8fd9\u4e9b\u4e8b\u4ef6\u90fd\u53ef\u80fd\u59a8\u788d\u96c6\u7fa4\u673a\u5668\u4eba\u524d\u884c\u6216\u6267\u884c\u67d0\u4e9b\u4efb\u52a1\u3002\u5728\u8fd9\u4e9b\u6761\u4ef6\u4e0b\uff0c\u96c6\u7fa4\u5fc5\u987b\u5171\u540c\u5730\u8c03\u6574\u5176\u884c\u4e3a\u5e76\u81ea\u52a8\u6539\u53d8\u5176\u7b56\u7565\u3002\u8fd9\u79cd\u7fa4\u4f53\u80fd\u529b\u53ef\u4ee5\u5728\u4e00\u4e9b\u7fa4\u5c45\u52a8\u7269<\/span>\uff08\u6210\u7fa4\u7684\u6447\u868a\u3001\u9c7c\u3001\u7f8a\uff09<\/span>\u4e2d\u89c2\u5bdf\u5230\u3002\u5728\u8fd9\u4e9b\u7269\u79cd\u4e2d\uff0c\u4e2a\u4f53\u4e4b\u95f4\u7684\u4ea4\u4e92\u4f1a\u5bfc\u81f4\u4e00\u4e9b\u96c6\u4f53\u5c5e\u6027\uff0c\u5b83\u4eec\u4e0e\u4e24\u79cd\u5b8f\u89c2\u72b6\u6001\u4e4b\u95f4\u63a5\u8fd1\u76f8\u53d8\u7684\u7269\u7406\u7cfb\u7edf\u7684\u5c5e\u6027\u7c7b\u4f3c<\/span>\uff08\u672f\u8bed\u89c1\u88681\uff09<\/span>\uff0c\u8fd9\u5bfc\u81f4\u5bf9\u5c11\u6570\u4e2a\u4f53\u7684\u884c\u4e3a\u53d8\u5316\u6781\u4e3a\u654f\u611f[90, 91]\u3002\u5728\u8fd9\u79cd\u6761\u4ef6\u4e0b\uff0c\u5c11\u6570\u5bdf\u89c9\u5230\u73af\u5883\u53d8\u5316\u7684\u4e2a\u4f53\u7684\u53cd\u5e94\u53ef\u4ee5\u4f20\u64ad\u5230\u96c6\u7fa4\u4e2d\u7684\u5176\u4ed6\u6210\u5458\uff0c\u4f7f\u5b83\u4eec\u80fd\u591f\u6709\u6548\u5730\u5e94\u5bf9\u6355\u98df\u8005\u7684\u653b\u51fb\u7b49\u5e72\u6270\u3002\u8fd9\u79cd\u7fa4\u4f53\u9002\u5e94\u80fd\u529b\u4e0d\u4ec5\u6e90\u4e8e\u4e2a\u4f53\u4e4b\u95f4\u7279\u6b8a\u7684\u4ea4\u4e92\u5f62\u5f0f\uff0c\u800c\u4e14\u6e90\u4e8e\u5bf9\u8fd9\u4e9b\u4e92\u52a8\u76f8\u5bf9\u5f3a\u5ea6\u7684\u8c03\u8282[92]\u3002\u8fd9\u7c7b\u7279\u6027\u5728\u96c6\u7fa4\u673a\u5668\u4eba\u4e2d\u7684\u8f6c\u6362\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8\u4ed6\u4eec\u7684\u81ea\u4e3b\u6c34\u5e73\uff0c\u8fd9\u5c06\u662f\u4e00\u4e2a\u5f88\u6709\u524d\u666f\u7684\u7814\u7a76\u65b9\u5411\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
E. \u96c6\u7fa4\u673a\u5668\u4eba\u7684\u673a\u5668\u5b66\u4e60<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
\t\u5230\u76ee\u524d\u4e3a\u6b62\uff0c\u673a\u5668\u5b66\u4e60\u5728\u96c6\u7fa4\u673a\u5668\u4eba\u4e2d\u552f\u4e00\u7a81\u51fa\u7684\u5e94\u7528\u5c31\u662f\u8fdb\u5316\u7b97\u6cd5<\/span>\uff08\u89c1\u88681\u4e2d\u7684\u672f\u8bed\u8868\uff09<\/span>\uff0c\u7528\u4e8e\u5f00\u53d1\u7b80\u5355\u7684\u795e\u7ecf\u63a7\u5236\u5668\u6765\u9a71\u52a8\u96c6\u7fa4\u4e2d\u5355\u4e2a\u673a\u5668\u4eba\u7684\u884c\u4e3a\u3002\u7136\u800c\uff0c\u673a\u5668\u5b66\u4e60\u7684\u6700\u65b0\u8fdb\u5c55\uff0c\u7279\u522b\u662f\u65b0\u7684\u6df1\u5ea6\u5b66\u4e60\u6280\u672f\u7684\u53ef\u7528\u6027\uff0c\u65e2\u53ef\u4f5c\u4e3a\u4e00\u79cd\u8bbe\u8ba1\u7fa4\u4f53\u884c\u4e3a\u7684\u624b\u6bb5\uff0c\u4e5f\u53ef\u4e3a\u5728\u96c6\u4f53\u5185\u5171\u4eab\u7684\u5355\u4e2a\u673a\u5668\u4eba\u63d0\u4f9b\u989d\u5916\u7684\u80fd\u529b\u3002\u76ee\u524d\u4e3a\u6b62\uff0c\u8fd9\u4e9b\u7814\u7a76\u6ca1\u6709\u5f97\u5230\u96c6\u7fa4\u673a\u5668\u4eba\u793e\u533a\u7684\u8ba4\u53ef\u3002\u673a\u5668\u5b66\u4e60\u4f5c\u4e3a\u4e00\u79cd\u8bbe\u8ba1\u65b9\u6cd5\uff0c\u5b58\u5728\u81ea\u52a8\u8bbe\u8ba1\u7684\u95ee\u9898[44]\uff0c\u4ee5\u53ca\u901a\u8fc7\u8bd5\u9519\u6765\u8fdb\u884c\u5728\u7ebf\u5b66\u4e60\u7684\u9644\u52a0\u7ea6\u675f[93]\uff0c\u4ee5\u53ca\u60c5\u666f\u5956\u52b1\u548c\u534f\u8c03\u95ee\u9898\u3002\u65e0\u6a21\u578b\u65b9\u6cd5<\/span>\uff08\u89c1\u88681\uff09<\/span>\u5728\u8ba1\u7b97\u6761\u4ef6\u65b9\u9762\u53ef\u80fd\u975e\u5e38\u82db\u523b\uff0c\u5c3d\u7ba1\u5b83\u4eec\u5728\u5904\u7406\u8868\u5f81\u7fa4\u4f53\u884c\u4e3a\u7684\u590d\u6742\u3001\u4e0d\u53ef\u9884\u6d4b\u7684\u7a81\u53d1\u4e8b\u4ef6\u65b9\u9762\u975e\u5e38\u5f3a\u5927\u3002\u7531\u4e8e\u5b66\u4e60<\/span>\uff08\u5f53\u524d\uff09<\/span>\u7fa4\u4f53\u884c\u4e3a\u7684\u6a21\u578b\u80fd\u591f\u4ea7\u751f\u9ad8\u6548\u8bbe\u8ba1\u7684\u4e2a\u4f53\u653f\u7b56\uff0c\u57fa\u4e8e\u6a21\u578b\u7684\u65b9\u6cd5\u53ef\u80fd\u4f1a\u5f88\u6709\u4ef7\u503c\u3002\u4e24\u8005\u7684\u7ed3\u5408\u662f\u76ee\u524d\u51e0\u4e2a\u9886\u57df\u4e00\u76f4\u5728\u63a2\u7d22\u7684\u65b9\u5411\uff0c\u5b83\u53ef\u80fd\u4e5f\u4e0e\u96c6\u7fa4\u673a\u5668\u4eba\u7684\u7814\u7a76\u6709\u5173\u3002\u9664\u4e86\u8bbe\u8ba1\u7fa4\u4f53\u884c\u4e3a\u4e4b\u5916\uff0c\u673a\u5668\u5b66\u4e60\u4ee5\u53ca\u66f4\u4e3a\u7279\u6b8a\u7684\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u53ef\u4ee5\u4e3a\u4e2a\u4f53\u673a\u5668\u4eba\u63d0\u4f9b\u5148\u8fdb\u7684\u80fd\u529b\u4ee5\u7ef4\u6301\u4e2a\u4f53\u548c\u7fa4\u4f53\u884c\u4e3a\u3002\u4ece\u8fd9\u65b9\u9762\u770b\uff0c\u627e\u5230\u53ef\u4ee5\u5229\u7528\u96c6\u7fa4\u6240\u5f97\u7684\u4fe1\u606f\u6765\u652f\u6301\u66f4\u6709\u6548\u5730\u89e3\u91ca\u4e16\u754c\u7684\u65b9\u6cd5\u663e\u5f97\u975e\u5e38\u91cd\u8981\u3002\u4f8b\u5982\uff0c\u6df1\u5ea6\u7f51\u7edc\u4ee3\u8868\u4e86\u56fe\u50cf\u5206\u7c7b\u7684\u6700\u5148\u8fdb\u6280\u672f\uff0c\u800c\u56fe\u50cf\u5206\u7c7b\u5219\u662f\u8bb8\u591a\u4e0e\u673a\u5668\u4eba\u96c6\u7fa4\u76f8\u5173\u5e94\u7528\u4e2d\u6240\u9700\u7684\u4e00\u9879\u529f\u80fd\u3002\u901a\u8fc7\u5229\u7528\u591a\u4e2a\u673a\u5668\u4eba\u4ece\u4e0d\u540c\u89d2\u5ea6\u548c\u4e0d\u540c\u65f6\u95f4\u4e0b\u89c2\u5bdf\u540c\u4e00\u573a\u666f\u7684\u5b58\u5728\u6027\uff0c\u53ef\u4ee5\u63d0\u4f9b\u66f4\u51c6\u786e\u548c\u66f4\u9ad8\u8ba1\u7b97\u6548\u7387\u7684\u89e3\u51b3\u65b9\u6848[94\uff0c95]\u3002\u4e3a\u4e86\u652f\u6301\u8fd9\u79cd\u96c6\u7fa4\u7ea7\u522b\u7684\u64cd\u4f5c\uff0c\u7814\u7a76\u4eba\u5458\u8fd8\u9700\u8981\u5927\u91cf\u5de5\u4f5c\u6765\u5b9a\u4e49\u7f51\u7edc\u67b6\u6784\u548c\u5b66\u4e60\u8303\u5f0f\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
F. \u5b89\u5168<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
\u5728\u5b9e\u9a8c\u5ba4\u5916\u4f7f\u7528\u81ea\u4e3b\u673a\u5668\u4eba\u4f1a\u5e26\u6765\u5b89\u5168\u95ee\u9898\u3002\u673a\u5668\u4eba\u5728\u6267\u884c\u4efb\u52a1\u65f6\u9700\u8981\u5177\u5907\u5b89\u5168\u6027[96]\uff0c\u5b83\u4eec\u5e94\u8be5\u4fdd\u8bc1\u6240\u6536\u96c6\u6570\u636e\u7684\u9690\u79c1\uff0c\u5b83\u4eec\u4e5f\u5e94\u8be5\u80fd\u591f\u62b5\u5fa1\u7531\u6076\u610f\u7528\u6237\u8bd5\u56fe\u83b7\u5f97\u63a7\u5236\u800c\u53d1\u8d77\u7684\u5916\u90e8\u653b\u51fb\u3002\u5728\u673a\u5668\u4eba\u96c6\u7fa4\u7684\u60c5\u51b5\u4e0b\uff0c\u8fd9\u4e9b\u95ee\u9898\u5c06\u66f4\u52a0\u4e25\u91cd[97]\u3002\u7531\u4e8e\u67d0\u4e9b\u573a\u666f\u4e0b\u53ef\u80fd\u5b58\u5728\u6570\u767e\u4e2a\u76f8\u4e92\u4ea4\u4e92\u7684\u673a\u5668\u4eba\uff0c\u8bf8\u5982\u5b9e\u4f53\u8eab\u4efd\u9a8c\u8bc1\u3001\u6570\u636e\u673a\u5bc6\u6027\u548c\u6570\u636e\u5b8c\u6574\u6027\u7b49\u95ee\u9898\u4f1a\u88ab\u653e\u5927\u3002\u6b64\u5916\uff0c\u5c11\u6570\u6076\u610f\u673a\u5668\u4eba\u6f5c\u5165\u96c6\u7fa4\u53ef\u80fd\u4f1a\u5bfc\u81f4\u96c6\u7fa4\u7684\u5de5\u4f5c\u4e2d\u65ad[97]\u3002\u673a\u5668\u4eba\u96c6\u7fa4\u5b89\u5168\u7684\u7814\u7a76\u4ecd\u5904\u4e8e\u8d77\u6b65\u9636\u6bb5\u3002\u6700\u521d\u7684\u5de5\u4f5c\u662f\u7814\u7a76\u5982\u4f55\u5229\u7528\u4f20\u7edf\u7684<\/span>\uff08\u4f8b\u5982\uff0c\u52a0\u5bc6\u7684Merkle\u6811[98]\uff09<\/span>\u548c\u4e0d\u90a3\u4e48\u4f20\u7edf\u7684<\/span>\uff08\u533a\u5757\u94fe[99]\uff09<\/span>\u5b89\u5168\u65b9\u6cd5\u6765\u589e\u52a0\u5b89\u5168\u5c42\u6216\u88ab\u5b8c\u5168\u96c6\u6210\u5230\u673a\u5668\u4eba\u96c6\u7fa4\u7684\u63a7\u5236\u4f53\u7cfb\u7ed3\u6784\u4e2d\u3002\u8fd9\u4e9b\u521d\u671f\u7684\u5de5\u4f5c\u53ef\u4ee5\u89e3\u51b3\u8bf8\u5982\u5982\u4f55\u5728\u7fa4\u4e2d\u4fdd\u6301\u4fe1\u606f\u79c1\u6709\u5316[98][100]\uff0c\u5982\u4f55\u907f\u514d\u6076\u610f\u673a\u5668\u4eba\u7684\u5e72\u6270[101]\uff0c\u4ee5\u53ca\u5982\u4f55\u5bf9\u6297Sybil\u653b\u51fb[99]\u7b49\u95ee\u9898\u3002\u7814\u7a76\u4eba\u5458\u9700\u8981\u8fdb\u884c\u5927\u91cf\u7814\u7a76\u6765\u6269\u5c55\u8fd9\u4e9b\u7b80\u5355\u7684\u3001\u6982\u5ff5\u9a8c\u8bc1\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4ee5\u4fbf\u5c06\u5b83\u4eec\u79fb\u690d\u5230\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u5927\u7fa4\u673a\u5668\u4eba\u4e2d\u3002<\/span><\/section>\n

<\/span><\/section>\n

\n
G. \u4eba\u7c7b-\u96c6\u7fa4\u4ea4\u4e92<\/span><\/strong><\/span><\/section>\n

<\/span><\/section>\n<\/h2>\n
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4. \u672a\u6765\u5e94\u7528\u5982\u4f55\u6307\u5bfc\u7814\u7a76<\/strong><\/strong><\/p>\n<\/section>\n

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A. \u96c6\u7fa4\u673a\u5668\u4eba\u89e3\u51b3\u65b9\u6848\u7684\u666e\u904d\u51c6\u5219<\/span><\/strong><\/span><\/section>\n

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B. \u5e94\u7528\u3001\u9700\u6c42\u548c\u672a\u6765\u7814\u7a76<\/span><\/strong><\/span><\/section>\n<\/h2>\n

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