中文摘要：

围绕大规模无人系统的集群智能控制问题，阐述了集群智能对于大规模无人系统控制的意义，综述了各类集群智能控制方法的基本思想及相关研究工作。基于局部规则的控制方法是集群智能涌现控制的基础方法，其重点在于集群内部局部规则的设计与描述；软控制方法在不破坏系统局部规则的基础上，在群中加入可控个体实现外部控制干预以达到控制集群智能涌现的目的；领航控制方法是利用群中富有信息个体或者智能发达个体的引导作用实现集群智能涌现控制的；人工势场控制法用势函数来描述集群内部相互作用及个体与环境的相互作用，通过设计合理的势函数实现对集群系统的控制。最后指出各种控制方法的应用趋势及需进一步研究的问题。

英文摘要：

Concerning the problem of the large-scale unmanned system swarm intelligence control （SIC） method, this paper sketched the significance of swarm intelligence in large-scale unmanned system control and gave an overview of all kinds of SIC methods and related research works. The local rules control method was the basis of SIC, its key lay in the design and descrip- tion of the internal local rules. The soft control method was based on without-destroying the local rules of system, added con- trollable individual into swarm to realize external control or interventions. The pilot control method realized SIC by the guiding action of informed information or higher degree of intelligence individuals. The artificial potential control method described the interaction among individuals and between individuals and environment by a potential function. Finally, this paper pointed out the application trend of various control methods and the problems needed to be studied further.