ICS35.110

CCSL79

團體標準

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智能無人集群術語

Intelligenceunmannedswarmterminology

（征求意見稿）

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申請號和申請日期。

202X-XX-XX發布202X-XX-XX實施

中國電子工業標準化技術協會發布

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前??言

本文件按照GB/T1.1-2020《標準化工作導則第1部分：標準化文件的結構和起草規則》的規定起

草。

本文件由中國電子技術標準化研究院提出。

本文件由中國電子技術標準化研究院、中國電子工業標準化技術協會歸口。

本文件起草單位：

本文件主要起草人：

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引??言

集群是若干個體高效協作、緊密耦合,通過群體信息共享，擴大對環境態勢的感知，實現協同任務

分配與協調，能夠有效提高群體完成復雜任務的能力，并具有高效率、高容錯性和內在的并行性等特點。

無人系統指平臺上無需人工操作的物理信息系統，作用于物理世界來完成目標任務。無人系統可以

是移動的或固定的，包括無人地面設備、無人空中設備、無人水下設備、無人水面設備和其他使用智能

傳感器技術無人操作的設備。無人化和智能化是無人系統最顯著的兩個特征。無人系統的智能化是指在

特定任務和環境下，無人系統“感知、認知、分析、溝通、計劃、決策和執行”的“自主能力”。無人

系統可在時間空間域根據環境、任務變化進行實時調整并做出判斷，在無人或人工輔助情況下完成任務。

無人集群是一定數量的同構或者異構無人系統的智能聯合體，個體間利用信息交互與反饋、激勵與

響應，實現群體行為協同，適應動態環境，共同完成特定任務。

智能無人集群的術語概念體系包括四個方面：架構類術語、感知類術語、控制類術語、通信類術語、

規劃類和評估類術語。

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智能無人集群術語

1范圍

本文件定義了智能無人集群的架構、感知、控制、通信、規劃和評估等術語。

本文件適用于智能無人集群相關技術的理解及智能無人集群系統的設計、研制、使用和維護。

2引用文件

本文件沒有規范性引用文件。

3術語和定義

3.1架構類

3.1.1

平臺platform

一個實體的物理基礎設施。

3.1.2

無人系統unmannedsystem

通過施加電力完成給定任務的平臺無人的機電系統。

注：無人系統可以是移動的或者固定的，如：無人地面設備、無人空中設備、無人水下設備和無人水面設備、無人

值守裝備和無人值守地面傳感器裝備。

3.1.3

智能體agent

代理

能夠代表另一個實體行動的實體。

3.1.4

無人集群（系統）unmannedswarm（system）

一起自主、協調、魯棒地完成特定的任務的一組無人系統。

注：無人集群是一組具備部分自主能力的復雜系統，通過有人/無人操作裝置的輔助以及一名高級操作員的監控，

一起完成特定任務。

3.1.5

異構集群heterogeneousswarm

具有不同屬性的個體組成的無人集群。

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3.1.6

同構集群homogeneousswarm

具有相同屬性的個體組成的無人集群。

3.1.7

協作cooperation

合作

無人集群中個體配合其他個體完成某一任務的方式。

3.1.8

協調coordination

通過個體之間相互商定或由上級進行授權，指導或促進多個個體的活動以完成某一任務的方式。

3.1.9

協同collaboration

多個個體基于信息、資源以及責任的共享機制合力規劃、實施和評估，共同完成某一任務的方式。

3.1.10

跨域協同cross-domaincollaboration

在空、天、地、水域及電、網中聯合執行任務，以協同方式共同完成任務。

3.1.11

同構協同homogeneouscollaboration

同構集群以協同方式完成任務。

3.1.12

異構協同heterogeneouscollaboration

異構集群以協同方式完成任務。

3.1.13

自主性autonomy

無人系統/無人集群（系統）通過感知、認知、分析、通信、計劃、決策和行動，以實現既定目標

的能力。

注：自主性可根據任務復雜性、環境態勢復雜性和人參與程度劃分為不同等級。

3.1.14

操作模式modeofoperation；operationalmode

操作員為完成指定任務而與無人集群（系統）之間的交互方式，如：全自主、半自主、遠程操作和

遠程控制等。

3.1.15

全自主fullyautonomousunmannedswarm

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在定義范圍內無需人工干預完成任務規劃和執行的無人集群（系統）操作模式。

3.1.16

半自主semi-autonomous

通過不同程度的人機接口，完成任務規劃和執行的無人集群（系統）操作模式。

3.1.17

遙操作teleoperation

操作員通過視頻反饋及其他傳感器反饋，并采用一個無線電控制設備直接控制驅動器或分配增量目

標的無人集群（系統）操作模式。在該模式下，無人系統可采取有限的主動來實現分配的增量目標。

3.1.18

遠程控制remotecontrol

操作員無需通過視頻反饋及其他傳感器反饋，僅通過無線電控制設備直接且連續控制無人集群（系

統）執行機構的操作模式。在該模式下，無人系統依賴用戶連續或近似連續的輸入來被動產生相應動作。

3.1.19

自主性等級autonomouslevel；levelofautonomy

用于評價無人集群（系統）自主性的一組漸進式指數，通常以數字形式給出。

3.1.20

自主性協同autonomouscollaboration

無需外部控制要素，無人集群（系統）內某個個體可與一個或多個有人或者無人系統協同的能力。

3.1.21

集群行為collectivebehavior

無人集群及其內部個體有目的、有“意識”的群體運行和演變活動。

3.1.22

非合作行為uncooperativebehavior

群體中的個體無法正常執行協同控制任務，使群體表現出所不期望特性的個體行為。

3.1.23

合作行為cooperativebehavior

群體中的個體通過信息交互與共享，相互配合以追求共同群體目標的個體行為。

3.1.24

競爭行為competitivebehavior

群體中的個體在群體競爭過程中獲取某種利益的行為。

3.1.25

任務行為missionbehavior

根據環境和任務參數采取的一組行動的行為。

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3.1.26

任務模塊missionmodule

使用通用接口的獨立組件，使無人集群系統能夠執行具體任務。

3.1.27

群體智能swarmintelligence

受群居性生物集體行為啟發，用于設計問題求解算法和分布式系統的理論與方法。

3.1.28

群智激發swarmintelligenceincentive

吸引和引導數量眾多的個體按照一定的組織方式，來探索挑戰性任務的完成路徑或給出挑戰性任務

不同子任務解決方案的動態過程。

3.1.29

群智匯聚swarmintelligenceconvergence

將激發過程中獲得的差異化分解和求解方案進行評估和匯聚，達成群體的共識，找出通往完成最終

任務這一目標的優化路徑，以及此過程中不同子任務解決方案的動態過程。

3.1.30

群智涌現swarmintelligenceemergence

通過個體之間以及個體與環境之間的交互和相互作用，按照特定規則通過自主決策實現更高級智能

的行為過程。

3.1.31

群智優化swarmintelligenceoptimization

受生物群體簡單性、自組織性、演化性、魯棒性和可擴充性等特點啟發，來設計求解最優化問題的

群體智能算法，如粒子群優化算法、人工蜂群優化算法、鴿群優化算法等。

3.1.32

人機交互humanmachineinteraction

人與機器之間的交互活動。

注：人機交互包括交互語言規范，如：用戶可以向機器詢問任務和相應的動作，機器可以向用戶詢問任務和相應的

動作。人機交互獨立于特定的顯示或交互方式，是機器與用戶之間計劃的和預期的交互。

3.1.33

人機共融humanmachineintegration

在任務執行環境中，通過人-機-環境的自然交互，實現復雜環境中的自主適應協同。

3.1.34

人機接口humanmachineinterface

人機交互或干預方法的物理實現。

3.1.35

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人在回路human-in-the-loop

由人類和智能體共同創建控制系統，通過人參與到一個良性循環中訓練、調整和測試控制算法，從

而完成任務。

3.1.36

集中式架構centralizedarchitecture

無人集群系統由中心節點調度和分發指令的一種工作模式。

3.1.37

分布式架構distributedarchitecture

無人集群系統按照各節點關系對等情況下協同執行任務的一種工作模式。

3.1.38

混合式架構hybridarchitecture

介于集中式和分布式之間的一種無人集群系統架構。在該架構下，節點按照功能、類型、權限等進

行分組和分工，其中高層級節點與低層級節點形成集中式架構，同層級節點形成分布式架構。

3.2感知類

3.2.1

導航navigation

引導無人集群系統中個體或者群體達到預定目的地的過程。

[GB/T9390-2017，改寫2.1.1]

3.2.2

感知perception

無人集群（系統）能夠察覺和構建其運行環境的內部模型，并對環境中獲取的實體、事件和情況進

行分類。

3.2.3

智能感知intelligentperception

采用人工智能手段，將同類和異類傳感信息匯集和融合，并通過記憶、學習、判斷和推理，實現對

環境的認知、對象類別和屬性的識別。

3.2.4

仿生感知bioinspiredperception

模擬生物體中的感覺器官、神經元與神經網絡以及高級中樞的智能活動等方面的信息處理過程，實

現對環境的認知和對象類別與屬性的識別。

3.2.5

頻譜感知spectrumperception

通過某種手段確定頻譜資源中的空穴。

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3.2.6

協同感知collaborativeperception

利用同類或異類傳感器，通過特定共享機制，對區域內的環境和對象信息進行探測、處理和融合，

實現對環境的認知、對象類別和屬性的識別。

3.2.7

協作感知cooperativeperception

利用時間、空間、資源等方面的互補性，個體間相互配合，共同對區域內的環境和目標信息進行探

測、處理和融合，以實現對環境的認知和對象類別與屬性的識別。

3.2.8

感知一致性perceptionconsensus

無人集群系統執行任務時所獲外界和內在感知信息的一致程度，包括感知絕對一致性和感知相對一

致性。

3.2.9

感知絕對一致性absoluteperceptionconsensus

無人集群系統執行任務時所獲感知信息與真實狀態的一致程度。

3.2.10

感知相對一致性relativeperceptionconsensus

無人集群系統中執行同一任務的兩個或者兩個以上的單元所共同獲取的感知信息的一致程度。

3.2.11

態勢感知situationawareness

對環境元素和事件相對于時間或空間的感知，包括對當前狀態的獲取、理解以及對其未來狀態的預

測。

3.2.12

協同態勢感知cooperativesituationawareness

無人集群系統將各自獲取的數據、信息、知識和行為進行共享和交換，實現對環境元素和事件相對

于時間或空間的感知、對當前狀態的獲取、理解以及對其未來狀態的預測。

3.3控制類

3.3.1

控制control

補償實際狀態與預期或期望狀態之間差異的能力。

3.3.2

操作員控制單元operatorcontrolunit；operatorcontrolinterface；humaninteraction

controlunit

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操作員用來控制、通信、接收數據和信息以及為一個或多個無人系統規劃任務的計算機、附件和數

據鏈路設備。

3.3.3

自主控制autonomouscontrol

在無人干預下，通過智能體的感知、決策、協同和行動等能力有機結合，從而完成群體任務的控制

模式。

3.3.4

協同控制collaborativecontrol

利用信息交互與共享，通過設計合適的局部控制策略以合理的方式協同行動，共同完成特定任務的

控制模式。

3.3.5

協調控制coordinatecontrol

利用信息的層級交互機制，通過設計合適的整體控制策略以合理的方式協調有序行動，共同完成特

定任務的控制模式。

3.3.6

一致性控制consensuscontrol

通過信息交互和局部控制規則，使得所有個體的狀態隨時間逐漸趨于一致，從而完成特定任務的控

制模式。

3.3.7

蜂擁控制flockingcontrol

利用信息交互，通過設計合適的局部控制規則，使所有集群個體速度矢量一致、彼此間距離恒定的

控制模式。

3.3.8

群集運動控制collectivemotioncontrol

利用信息交互與共享，通過設計合適的局部控制策略實現個體的運動控制，使其共同完成特定任務

的控制模式。

3.4通信類

3.4.1

網絡拓撲networktopology

描述網絡節點間連接關系和轉發關系的方法。

3.4.2

網狀網meshnetwork

所有節點在網絡中的地位相同，并且可以兩兩之間進行交互通信的一種組網方式。

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3.4.3

自組網ad-hocnetwork

僅由下列節點組成的網絡，這些節點通過無線媒體位于網內其他任意一個節點的通信范圍之內。

3.4.4

隨遇接入stand-byaccess

處于移動狀態的無人系統，可以隨時進入或離開無人集群系統。

3.4.5

訪問控制策略accesscontrolstrategy

節點間信息交互時遵循的一種原則。

3.4.6

協同等級參數cooperationlevelparameter

用于指示期望消息接收方對該消息的響應優先級別的通信接口消息的參數。

3.5規劃類

3.5.1

任務規劃missionplanning

為一個或多個無人系統生成任務目標、操作模式、任務協調、運動路徑和時間安排的過程。

3.5.2

緊密編隊close/tightformation

無人系統間距接近最小安全距離的編隊形式。

3.5.3

集群編隊swarmformation

無人集群通過網絡通信、自主協同和智能控制調整個體姿態，根據預定任務和態勢環境形成并保持

個體間的期望相對位置。

3.5.4

集群重構swarmreconstruction

為實現對環境和任務的最佳響應或在集群受破壞時得以快速恢復，以最小代價重建集群結構及重新

組合系統功能的過程。

3.5.5

集群相變collectivephasetransition

外部參數或系統參數變化時，群體從一種狀態轉換成另一種狀態的過程。

3.5.6

集群防撞swarmcollisionavoidance

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無人系統群體運動時，個體間通過感知計算、信息交互和自主控制，實現避免撞擊或碰撞的行為。

3.5.7

目標分配objectiveassignment

基于特定的環境知識和任務要求，為無人系統分配一個或一組有序目標，以最小的代價完成最大可

能數量的任務。

3.5.8

頻譜分配spectrumallocation

將檢測到的可用頻譜分配給一個或多個指定無人系統，使無人系統間通過合理公平的方式共享頻譜

資源。

3.5.9

頻譜決策spectrumdecision

通過頻譜分析對所有頻譜空穴進行描述，選擇合適的工作頻譜滿足當前傳輸的服務質量需求和頻譜

特征。

3.5.10

協同搜索collaborativesearch

在一定約束條件下，無人集群按照特定方式通過共享機制對目標區域進行聯合搜尋和遍歷查找的過

程。

3.6評估類

3.6.1

仿真評估simulationevaluation

采用建模仿真技術建立系統的仿真模型，通過仿真實驗獲取系統數據并進行處理，實現系統效能指

標的計算評估。常用的方法有：計算機仿真法、原型仿真法、仿真實驗床法等。

3.6.2

效能評估effectivenessevaluation

對集群系統執行某項任務結果或進程的質量好壞、作用大小、自身狀態等綜合效率指標的量化計算

或結論性評價。

3.6.3

自主協同能力評估autonomouscollaborationabilityevaluation

采用定性/定量評價指標，對無人集群的集群自主性和協同能力進行綜合結論性評價。

3.6.4

系統魯棒性評估systemrobustnessevaluation

采用定性/定量評價指標，對無人集群的魯棒性進行綜合評價。

3.6.5

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序參量orderparameter

采用平均歸一化速度的模來描述集群系統有序程度的定量指標。

3.6.6

集群使用可用度swarmoperationalavailability

在任務持續期間按固定時間間隔進行采樣，得到能工作個體數量與集群總數比例的平均值。

3.6.7

集群任務可靠度swarmmissionreliability

集群在任務剖面時間段內的無故障時間占總時間的比例。

3.6.8

集群連通可靠度swarmconnectivityreliability

集群數據鏈在任務剖面時間段內的無故障時間占總時間的比例。

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索??引

B

半自主···············································································································3.1.16

C

操作模式············································································································3.1.14

操作員控制單元····································································································3.3.2

D

導航···················································································································3.2.1

F

仿生感知·············································································································3.2.5

仿真評估·············································································································3.6.1

訪問控制策略·······································································································3.4.8

非合作行為········································································································3.1.23

分布式架構········································································································3.1.39

蜂擁控制·············································································································3.3.9

G

感知···················································································································3.2.3

感知絕對一致性··································································································3.2.10

感知相對一致性··································································································3.2.11

感知一致性··········································································································3.2.9

H

合作行為············································································································3.1.24

混合式架構········································································································3.1.40

J

集群編隊·············································································································3.5.3

集群防撞·············································································································3.5.6

集群行為············································································································3.1.22

集群任務可靠度····································································································3.6.7

集群使用可用度····································································································3.6.6

集群相變·············································································································3.5.5

集群重構·············································································································3.5.4

集中式架構········································································································3.1.38

緊密編隊·············································································································3.5.2

競爭行為············································································································3.1.25

K

控制···················································································································3.3.1

跨域協同············································································································3.1.10

M

目標分配·············································································································3.5.7

P

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頻譜分配·············································································································3.5.8

頻譜感知·············································································································3.2.6

頻譜決策·············································································································3.5.9

平臺···················································································································3.1.1

Q

全自主···············································································································3.1.15

群集運動控制·····································································································3.3.10

群體智能············································································································3.1.28

群智匯聚············································································································3.1.30

群智激發············································································································3.1.29

群智涌現············································································································3.1.31

群智優化············································································································3.1.32

R

人機共融············································································································3.1.34

人機交互············································································································3.1.33

人機接口············································································································3.1.35

人在回路············································································································3.1.37

任務規劃·············································································································3.5.1

任務行為············································································································3.1.26

任務模塊············································································································3.1.27

S

隨遇接入·············································································································3.4.7

T

態勢感知············································································································3.2.12

同構集群·············································································································3.1.6

同構協同············································································································3.1.11

W

網絡拓撲·············································································································3.4.2

網狀網················································································································3.4.3

無人集群（系統）·································································································3.1.4

無人系統·············································································································3.1.2

X

系統魯棒性評估····································································································3.6.4

效能評估·············································································································3.6.2

協調···················································································································3.1.8

協調控制·············································································································3.3.7

協同···················································································································3.1.9

協同等級參數·······································································································3.4.9

協同感知·············································································································3.2.7

協同控制·············································································································3.3.6

協同搜索············································································································3.5.10

協同態勢感知·····································································································3.2.13

協作···················································································································3.1.7

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協作感知·············································································································3.2.8

序參量················································································································3.6.5

Y

遙操作···············································································································3.1.17

一致性控制··········································································································3.3.8

異構集群·············································································································3.1.5

異構協同············································································································3.1.12

遠程控制············································································································3.1.18

Z

智能感知·············································································································3.2.4

智能體················································································································3.1.3

自主控制·············································································································3.3.5

自主協同能力評估·································································································3.6.3

自主性···············································································································3.1.13

自主性等級········································································································3.1.19

自主性協同········································································································3.1.20

自組網················································································································3.4.6

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參?考?文?獻

[1]GB/T9390—2017導航術語

[2]GB/T38152—2019無人駕駛航空器系統術語

[3]ARP6128UnmannedSystemsTerminology

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目??次

前言.....................................................................................................................................................................III

引言.......................................................................................................................................................................IV

1范圍.....................................................................................................................................................................1

2引用文件.............................................................................................................................................................1

3術語和定義.........................................................................................................................................................1

3.1通用類.........................................................................................................................................................1

3.2感知類.........................................................................................................................................................5

3.3控制類.........................................................................................................................................................6

3.4通信類.........................................................................................................................................................7

3.5規劃類.........................................................................................................................................................8

3.6評估類.........................................................................................................................................................9

索??引...............................................................................................................................................................11

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智能無人集群術語

1范圍

本文件定義了智能無人集群的架構、感知、控制、通信、規劃和評估等術語。

本文件適用于智能無人集群相關技術的理解及智能無人集群系統的設計、研制、使用和維護。

2引用文件

本文件沒有規范性引用文件。

3術語和定義

3.1架構類

3.1.1

平臺platform

一個實體的物理基礎設施。

3.1.2

無人系統unmannedsystem

通過施加電力完成給定任務的平臺無人的機電系統。

注：無人系統可以是移動的或者固定的，如：無人地面設備、無人空中設備、無人水下設備和無人水面設備、無人

值守裝備和無人值守地面傳感器裝備。

3.1.3

智能體agent

代理

能夠代表另一個實體行動的實體。

3.1.4

無人集群（系統）unmannedswarm（system）

一起自主、協調、魯棒地完成特定的任務的一組無人系統。

注：無人集群是一組具備部分自主能力的復雜系統，通過有人/無人操作裝置的輔助以及一名高級操作員的監控，

一起完成特定任務。

3.1.5

異構集群heterogeneousswarm

具有不同屬性的個體組成的無人集群。

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3.1.6

同構集群homogeneousswarm

具有相同屬性的個體組成的無人集群。

3.1.7

協作cooperation

合作

無人集群中個體配合其他個體完成某一任務的方式。

3.1.8

協調coord