/// <summary>
/// 从备选智能体中选择下一个智能体，选择标准是最大化当前联盟值
/// </summary>
/// <param name="PreCoaMemList">备选智能体集合</param>
/// <returns>返回被选中参加联盟的智能体</returns>
private CoaMembers AddAgent(List <CoaMembers> PreCoaMemList, List <CoaMembers> reservedAgents)
{
if (reservedAgents.Count == 0)
{
return(null);
}
CoaMembers newCm = new CoaMembers();
float valueOfCoa, valueIni;
valueIni = 0;
if (PreCoaMemList != null && PreCoaMemList.Count != 0)
{
PreCoaMemList.Add(reservedAgents[0]);
valueIni = valueOfCoalition(PreCoaMemList);
newCm = reservedAgents[0];
PreCoaMemList.Remove(reservedAgents[0]);
}
for (int i = 1; i < reservedAgents.Count; i++)
{
if (!IsAgentInCoalition(PreCoaMemList, reservedAgents[i].agent))
{
PreCoaMemList.Add(reservedAgents[i]);
valueOfCoa = valueOfCoalition(PreCoaMemList);
if (valueIni < valueOfCoa)
{
valueIni = valueOfCoa;
newCm = reservedAgents[i];
}
PreCoaMemList.Remove(reservedAgents[i]);
}
}
return(newCm);
}
/// <summary>
/// 多余智能体的分割
/// </summary>
/// <param name="aCoa">需要进行分割的联盟</param>
public CoaMembers Split(List <CoaMembers> aCoa)
{
int number = 0;
CoaMembers agent = new CoaMembers();
CoaMembers agentNew = new CoaMembers();
float value, valueOri;
float valueIni = value = valueOfCoalition(aCoa);
valueOri = value;
agent = aCoa[0];
aCoa.Remove(agent);
valueIni = valueOri - valueOfCoalition(aCoa);
aCoa.Insert(0, agent);
for (int i = 1; i < aCoa.Count; i++)
{
agent = aCoa[i];
aCoa.Remove(agent);
value = valueOri - valueOfCoalition(aCoa);
if (value > valueIni)
{
valueIni = value;
number = i;
agentNew = aCoa[i];
}
aCoa.Insert(i, agent);
}
return(agentNew);
}
/// <summary>
/// 信息发布者智能体选择
/// 对每一个任务，将其附近空间距离最近的智能体作为其coalition最开始的集合
/// 模拟任务发现发布过程的函数
/// </summary>
/// <param name="aList">全体智能体</param>
public void CoalitionPreForm(ref List <Agent> aList)
{
///探测范围在150之内的空闲agent都进行联盟结构搜索
float f = 0;
float dis = 0;
int mark = 0;
dis = aList[0].DistComp(this);
//选择离任务最近的智能体作为信息获取者
for (int i = 0; i < aList.Count; i++)
{
if (aList[i].statusInCoalition == agentStatusInCoalition.IdleAgent && aList[i].list_Neighbors != null)
{
f = aList[i].DistComp(this);
if (f < dis)
{
//如果第一个被通知的agent的邻居节点不为空，那么在它的邻居节点中进行coalition组建的消息传播
mark = i;
dis = f;
}
}
}
//选择离任务最近的智能体作为信息获取者
if (mark != 0 || dis != 0)
{
potential_leader = aList[mark];
aList[mark].statusInCoalition = agentStatusInCoalition.WaitingAgent;
aList[mark].taskTaken = this;
CoaMembers m = new CoaMembers();
m.agent = aList[mark];
m.rank = 0;
m.valueOfAgent = 0;
pre_members.Add(m);
}
//
else if (mark == 0 && dis == 0)
{
do
{
Random ra = new Random();
int j = ra.Next(aList.Count);
if (aList[j].statusInCoalition == agentStatusInCoalition.IdleAgent && aList[j].list_Neighbors != null && j >= 0 && j < aList.Count)
{
potential_leader = aList[j];
aList[j].statusInCoalition = agentStatusInCoalition.WaitingAgent;
aList[j].taskTaken = this;
CoaMembers m = new CoaMembers();
m.agent = aList[j];
m.rank = 0;
m.valueOfAgent = 0;
pre_members.Add(m);
break;
}
}while(potential_leader == null);
}
}
/// <summary>
/// 联盟组队优化选择
/// 考虑移动成本和到达时间进行选择
/// </summary>
public bool CoalitionOptimization(Task task, int step)
{
bool flag = false;
CoaMembers newCoalitionAgent = new CoaMembers();
coaMembers = new List <CoaMembers>(0);
//当备选智能体
if (CoaAbilityCheck(task.pre_members))
{
do
{
//获取新添加的智能体的ID
newCoalitionAgent = AddAgent(coaMembers, task.pre_members);
if (newCoalitionAgent == null)
{
return(false);
}
if (newCoalitionAgent.agent == null)
{
return(false);
}
if (!IsAgentInCoalition(coaMembers, newCoalitionAgent.agent))
{
newCoalitionAgent.agent.taskTaken = task;
coaMembers.Add(newCoalitionAgent);
pre_members.Remove(newCoalitionAgent);
flag = CoaAbilityCheck(coaMembers);
//如果联盟能力超过了要求，则进行联盟分解
if (!flag)
{
ablity ab = coaRequireCheck(coaMembers);
if (pre_members.Count != 0 && (ab.ablityX > requirement.ablityX || ab.ablityY > requirement.ablityY))
{
newCoalitionAgent = Split(coaMembers);
coaMembers.Remove(newCoalitionAgent);
}
//else
// start_time = step + period_time;
}
}
} while (!flag);
}
else
{
call_time = step + 1;
}
return(true);
}
/// <summary>
/// 对任务状态进行更新
/// </summary>
/// <param name="step">当前时刻</param>
private void UpdateOfAllTask(int step)
{
List <Task> taskList = new List <Task>(0);
List <CoaMembers> coaMemberList = new List <CoaMembers>(0);
foreach (Agent a in agentAll)
{
CoaMembers m = new CoaMembers();
m.agent = a;
m.rank = 0;
m.valueOfAgent = 0;
coaMemberList.Add(m);
}
for (int i = 0; i < task_UnderGoing.Count; i++)
{
//if (task_UnderGoing[i].IsTaskCompleted(step,ref coaMemberList))
if (step >= task_UnderGoing[i].finishTime)
{
task_UnderGoing[i].status = Task.taskStatus.completed;
task_Complete.Add(task_UnderGoing[i]);
taskList.Add(task_UnderGoing[i]);
}
}
for (int i = 0; i < taskList.Count; i++)
{
if (task_UnderGoing.Contains(taskList[i]))
{
task_UnderGoing.Remove(taskList[i]);
}
}
foreach (CoaMembers m in coaMemberList)
{
for (int i = 0; i < agentAll.Count; i++)
{
if (agentAll[i].ID == m.agent.ID)
{
agentAll[i] = m.agent;
}
}
}
}
