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中文摘要：
针对异构多UUV协作任务，提出了基于多智能体系统的分层式体系结构（MAHA）．在个体层面，将UUV智能体的思维状态分为社会心智和个体心智两个层次分别实现，更加符合人类社会协作模式；在群体层面，提出了复杂海洋环境下UUV群体结构的评价准则，并据此将MAHA与现有结构进行了对比分析．此外，利用面向对象的Petri网理论建立了系统的协作模型，有效降低了系统建模的复杂性．最后，水下多目标搜索使命的实例研究表明，MAHA能够保证异构UUV之间进行有效的协作．
英文摘要：
For cooperation task of heterogeneous multiple unmanned underwater vehicles （UUVs）, a MAS （muhi-agent system） based hierarchical architecture （MAHA） is presented. On the individual level, the mental state of UUV agent is divided into social mental state and personal mental state which are implemented respectively, agreeing much more with the cooperation mode of human society. On the colonial level, evaluation criterions for UUV colony architecture in complex undersea environment are given to compare MAHA with the existing UUV colony architectures. In addition, cooperation model of the system is established with the help of object-oriented Petri net, which effectively decreases the complexity of system modelling. At last, an undersea multi-target searching mission is presented as an example to show the effectiveness of cooperation among heterogeneous UUVs under MAHA.
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