One of the key advantages of unmanned swarm operation is its autonomous cooperation. When the communication is interrupted or the centralized control manner is lost, the cooperative operation can still be carried out orderly. This work proposed a cooperative evolution mechanism within the framework of multiplayer public goods game to solve the problem of autonomous collaboration of unmanned swarm in case of failure of centralized control. It starts with the requirement analysis of autonomous cooperation in unmanned swarm, and then, the evolutionary game model of multiplayer public goods based on aspiration-driven dynamics is established. On this basis, the average abundance function is constructed by theoretical derivation, and furthermore, the influence of cost, multiplication factor, and aspiration level on the average abundance is simulated. Finally, the evolutionary mechanism of parameter adjustment in swarm cooperation is revealed via case study, and deliberate proposals are suggested to provide a meaningful exploration in the actual control of unmanned swarm cooperation.
The study set up the model of per capita GDP and the environmental index based on the Environmental Kuznets Curve (EKC) with the support of SPSS software and the 2003-2011 economics and environment data of Puyang City. And the result shows that the environmental Kuznets Curve (EKC) of industrial wastewater discharge and industrial sulfur dioxide emissions both display inverted U-shape; and just across the turning point, the discharge present downward trend with the increasing of per capita GDP; while the EKC of industrial fumes emissions display positive U-shape, and its emission present upward trend first and then downward with the increasing of per capita GDP. It shows that the environmental problems of Puyang City has partly improved, but has not been fully restrained. The main reasons are unreasonable industrial structure, single dominated industy and relatively low investment on environmental improvement.
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