CESA-2021-3-11《 智能无人集群术语》团体标准（征求意见稿）

ICS35.110

CCSL79

团体标准

T/CESAXXXX—202X

智能无人集群术语

Intelligenceunmannedswarmterminology

（征求意见稿）

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202X-XX-XX发布202X-XX-XX实施

中国电子工业标准化技术协会发布

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前  言

本文件按照GB/T1.1-2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规定起

草。

本文件由中国电子技术标准化研究院提出。

本文件由中国电子技术标准化研究院、中国电子工业标准化技术协会归口。

本文件起草单位：

本文件主要起草人：

III

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引  言

集群是若干个体高效协作、紧密耦合,通过群体信息共享，扩大对环境态势的感知，实现协同任务

分配与协调，能够有效提高群体完成复杂任务的能力，并具有高效率、高容错性和内在的并行性等特点。

无人系统指平台上无需人工操作的物理信息系统，作用于物理世界来完成目标任务。无人系统可以

是移动的或固定的，包括无人地面设备、无人空中设备、无人水下设备、无人水面设备和其他使用智能

传感器技术无人操作的设备。无人化和智能化是无人系统最显著的两个特征。无人系统的智能化是指在

特定任务和环境下，无人系统“感知、认知、分析、沟通、计划、决策和执行”的“自主能力”。无人

系统可在时间空间域根据环境、任务变化进行实时调整并做出判断，在无人或人工辅助情况下完成任务。

无人集群是一定数量的同构或者异构无人系统的智能联合体，个体间利用信息交互与反馈、激励与

响应，实现群体行为协同，适应动态环境，共同完成特定任务。

智能无人集群的术语概念体系包括四个方面：架构类术语、感知类术语、控制类术语、通信类术语、

规划类和评估类术语。

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智能无人集群术语

1范围

本文件定义了智能无人集群的架构、感知、控制、通信、规划和评估等术语。

本文件适用于智能无人集群相关技术的理解及智能无人集群系统的设计、研制、使用和维护。

2引用文件

本文件没有规范性引用文件。

3术语和定义

3.1架构类

3.1.1

平台platform

一个实体的物理基础设施。

3.1.2

无人系统unmannedsystem

通过施加电力完成给定任务的平台无人的机电系统。

注：无人系统可以是移动的或者固定的，如：无人地面设备、无人空中设备、无人水下设备和无人水面设备、无人

值守装备和无人值守地面传感器装备。

3.1.3

智能体agent

代理

能够代表另一个实体行动的实体。

3.1.4

无人集群（系统）unmannedswarm（system）

一起自主、协调、鲁棒地完成特定的任务的一组无人系统。

注：无人集群是一组具备部分自主能力的复杂系统，通过有人/无人操作装置的辅助以及一名高级操作员的监控，

一起完成特定任务。

3.1.5

异构集群heterogeneousswarm

具有不同属性的个体组成的无人集群。

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3.1.6

同构集群homogeneousswarm

具有相同属性的个体组成的无人集群。

3.1.7

协作cooperation

合作

无人集群中个体配合其他个体完成某一任务的方式。

3.1.8

协调coordination

通过个体之间相互商定或由上级进行授权，指导或促进多个个体的活动以完成某一任务的方式。

3.1.9

协同collaboration

多个个体基于信息、资源以及责任的共享机制合力规划、实施和评估，共同完成某一任务的方式。

3.1.10

跨域协同cross-domaincollaboration

在空、天、地、水域及电、网中联合执行任务，以协同方式共同完成任务。

3.1.11

同构协同homogeneouscollaboration

同构集群以协同方式完成任务。

3.1.12

异构协同heterogeneouscollaboration

异构集群以协同方式完成任务。

3.1.13

自主性autonomy

无人系统/无人集群（系统）通过感知、认知、分析、通信、计划、决策和行动，以实现既定目标

的能力。

注：自主性可根据任务复杂性、环境态势复杂性和人参与程度划分为不同等级。

3.1.14

操作模式modeofoperation；operationalmode

操作员为完成指定任务而与无人集群（系统）之间的交互方式，如：全自主、半自主、远程操作和

远程控制等。

3.1.15

全自主fullyautonomousunmannedswarm

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在定义范围内无需人工干预完成任务规划和执行的无人集群（系统）操作模式。

3.1.16

半自主semi-autonomous

通过不同程度的人机接口，完成任务规划和执行的无人集群（系统）操作模式。

3.1.17

遥操作teleoperation

操作员通过视频反馈及其他传感器反馈，并采用一个无线电控制设备直接控制驱动器或分配增量目

标的无人集群（系统）操作模式。在该模式下，无人系统可采取有限的主动来实现分配的增量目标。

3.1.18

远程控制remotecontrol

操作员无需通过视频反馈及其他传感器反馈，仅通过无线电控制设备直接且连续控制无人集群（系

统）执行机构的操作模式。在该模式下，无人系统依赖用户连续或近似连续的输入来被动产生相应动作。

3.1.19

自主性等级autonomouslevel；levelofautonomy

用于评价无人集群（系统）自主性的一组渐进式指数，通常以数字形式给出。

3.1.20

自主性协同autonomouscollaboration

无需外部控制要素，无人集群（系统）内某个个体可与一个或多个有人或者无人系统协同的能力。

3.1.21

集群行为collectivebehavior

无人集群及其内部个体有目的、有“意识”的群体运行和演变活动。

3.1.22

非合作行为uncooperativebehavior

群体中的个体无法正常执行协同控制任务，使群体表现出所不期望特性的个体行为。

3.1.23

合作行为cooperativebehavior

群体中的个体通过信息交互与共享，相互配合以追求共同群体目标的个体行为。

3.1.24

竞争行为competitivebehavior

群体中的个体在群体竞争过程中获取某种利益的行为。

3.1.25

任务行为missionbehavior

根据环境和任务参数采取的一组行动的行为。

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3.1.26

任务模块missionmodule

使用通用接口的独立组件，使无人集群系统能够执行具体任务。

3.1.27

群体智能swarmintelligence

受群居性生物集体行为启发，用于设计问题求解算法和分布式系统的理论与方法。

3.1.28

群智激发swarmintelligenceincentive

吸引和引导数量众多的个体按照一定的组织方式，来探索挑战性任务的完成路径或给出挑战性任务

不同子任务解决方案的动态过程。

3.1.29

群智汇聚swarmintelligenceconvergence

将激发过程中获得的差异化分解和求解方案进行评估和汇聚，达成群体的共识，找出通往完成最终

任务这一目标的优化路径，以及此过程中不同子任务解决方案的动态过程。

3.1.30

群智涌现swarmintelligenceemergence

通过个体之间以及个体与环境之间的交互和相互作用，按照特定规则通过自主决策实现更高级智能

的行为过程。

3.1.31

群智优化swarmintelligenceoptimization

受生物群体简单性、自组织性、演化性、鲁棒性和可扩充性等特点启发，来设计求解最优化问题的

群体智能算法，如粒子群优化算法、人工蜂群优化算法、鸽群优化算法等。

3.1.32

人机交互humanmachineinteraction

人与机器之间的交互活动。

注：人机交互包括交互语言规范，如：用户可以向机器询问任务和相应的动作，机器可以向用户询问任务和相应的

动作。人机交互独立于特定的显示或交互方式，是机器与用户之间计划的和预期的交互。

3.1.33

人机共融humanmachineintegration

在任务执行环境中，通过人-机-环境的自然交互，实现复杂环境中的自主适应协同。

3.1.34

人机接口humanmachineinterface

人机交互或干预方法的物理实现。

3.1.35

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人在回路human-in-the-loop

由人类和智能体共同创建控制系统，通过人参与到一个良性循环中训练、调整和测试控制算法，从

而完成任务。

3.1.36

集中式架构centralizedarchitecture

无人集群系统由中心节点调度和分发指令的一种工作模式。

3.1.37

分布式架构distributedarchitecture

无人集群系统按照各节点关系对等情况下协同执行任务的一种工作模式。

3.1.38

混合式架构hybridarchitecture

介于集中式和分布式之间的一种无人集群系统架构。在该架构下，节点按照功能、类型、权限等进

行分组和分工，其中高层级节点与低层级节点形成集中式架构，同层级节点形成分布式架构。

3.2感知类

3.2.1

导航navigation

引导无人集群系统中个体或者群体达到预定目的地的过程。

[GB/T9390-2017，改写2.1.1]

3.2.2

感知perception

无人集群（系统）能够察觉和构建其运行环境的内部模型，并对环境中获取的实体、事件和情况进

行分类。

3.2.3

智能感知intelligentperception

采用人工智能手段，将同类和异类传感信息汇集和融合，并通过记忆、学习、判断和推理，实现对

环境的认知、对象类别和属性的识别。

3.2.4

仿生感知bioinspiredperception

模拟生物体中的感觉器官、神经元与神经网络以及高级中枢的智能活动等方面的信息处理过程，实

现对环境的认知和对象类别与属性的识别。

3.2.5

频谱感知spectrumperception

通过某种手段确定频谱资源中的空穴。

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3.2.6

协同感知collaborativeperception

利用同类或异类传感器，通过特定共享机制，对区域内的环境和对象信息进行探测、处理和融合，

实现对环境的认知、对象类别和属性的识别。

3.2.7

协作感知cooperativeperception

利用时间、空间、资源等方面的互补性，个体间相互配合，共同对区域内的环境和目标信息进行探

测、处理和融合，以实现对环境的认知和对象类别与属性的识别。

3.2.8

感知一致性perceptionconsensus

无人集群系统执行任务时所获外界和内在感知信息的一致程度，包括感知绝对一致性和感知相对一

致性。

3.2.9

感知绝对一致性absoluteperceptionconsensus

无人集群系统执行任务时所获感知信息与真实状态的一致程度。

3.2.10

感知相对一致性relativeperceptionconsensus

无人集群系统中执行同一任务的两个或者两个以上的单元所共同获取的感知信息的一致程度。

3.2.11

态势感知situationawareness

对环境元素和事件相对于时间或空间的感知，包括对当前状态的获取、理解以及对其未来状态的预

测。

3.2.12

协同态势感知cooperativesituationawareness

无人集群系统将各自获取的数据、信息、知识和行为进行共享和交换，实现对环境元素和事件相对

于时间或空间的感知、对当前状态的获取、理解以及对其未来状态的预测。

3.3控制类

3.3.1

控制control

补偿实际状态与预期或期望状态之间差异的能力。

3.3.2

操作员控制单元operatorcontrolunit；operatorcontrolinterface；humaninteraction

controlunit

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操作员用来控制、通信、接收数据和信息以及为一个或多个无人系统规划任务的计算机、附件和数

据链路设备。

3.3.3

自主控制autonomouscontrol

在无人干预下，通过智能体的感知、决策、协同和行动等能力有机结合，从而完成群体任务的控制

模式。

3.3.4

协同控制collaborativecontrol

利用信息交互与共享，通过设计合适的局部控制策略以合理的方式协同行动，共同完成特定任务的

控制模式。

3.3.5

协调控制coordinatecontrol

利用信息的层级交互机制，通过设计合适的整体控制策略以合理的方式协调有序行动，共同完成特

定任务的控制模式。

3.3.6

一致性控制consensuscontrol

通过信息交互和局部控制规则，使得所有个体的状态随时间逐渐趋于一致，从而完成特定任务的控

制模式。

3.3.7

蜂拥控制flockingcontrol

利用信息交互，通过设计合适的局部控制规则，使所有集群个体速度矢量一致、彼此间距离恒定的

控制模式。

3.3.8

群集运动控制collectivemotioncontrol

利用信息交互与共享，通过设计合适的局部控制策略实现个体的运动控制，使其共同完成特定任务

的控制模式。

3.4通信类

3.4.1

网络拓扑networktopology

描述网络节点间连接关系和转发关系的方法。

3.4.2

网状网meshnetwork

所有节点在网络中的地位相同，并且可以两两之间进行交互通信的一种组网方式。

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3.4.3

自组网ad-hocnetwork

仅由下列节点组成的网络，这些节点通过无线媒体位于网内其他任意一个节点的通信范围之内。

3.4.4

随遇接入stand-byaccess

处于移动状态的无人系统，可以随时进入或离开无人集群系统。

3.4.5

访问控制策略accesscontrolstrategy

节点间信息交互时遵循的一种原则。

3.4.6

协同等级参数cooperationlevelparameter

用于指示期望消息接收方对该消息的响应优先级别的通信接口消息的参数。

3.5规划类

3.5.1

任务规划missionplanning

为一个或多个无人系统生成任务目标、操作模式、任务协调、运动路径和时间安排的过程。

3.5.2

紧密编队close/tightformation

无人系统间距接近最小安全距离的编队形式。

3.5.3

集群编队swarmformation

无人集群通过网络通信、自主协同和智能控制调整个体姿态，根据预定任务和态势环境形成并保持

个体间的期望相对位置。

3.5.4

集群重构swarmreconstruction

为实现对环境和任务的最佳响应或在集群受破坏时得以快速恢复，以最小代价重建集群结构及重新

组合系统功能的过程。

3.5.5

集群相变collectivephasetransition

外部参数或系统参数变化时，群体从一种状态转换成另一种状态的过程。

3.5.6

集群防撞swarmcollisionavoidance

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无人系统群体运动时，个体间通过感知计算、信息交互和自主控制，实现避免撞击或碰撞的行为。

3.5.7

目标分配objectiveassignment

基于特定的环境知识和任务要求，为无人系统分配一个或一组有序目标，以最小的代价完成最大可

能数量的任务。

3.5.8

频谱分配spectrumallocation

将检测到的可用频谱分配给一个或多个指定无人系统，使无人系统间通过合理公平的方式共享频谱

资源。

3.5.9

频谱决策spectrumdecision

通过频谱分析对所有频谱空穴进行描述，选择合适的工作频谱满足当前传输的服务质量需求和频谱

特征。

3.5.10

协同搜索collaborativesearch

在一定约束条件下，无人集群按照特定方式通过共享机制对目标区域进行联合搜寻和遍历查找的过

程。

3.6评估类

3.6.1

仿真评估simulationevaluation

采用建模仿真技术建立系统的仿真模型，通过仿真实验获取系统数据并进行处理，实现系统效能指

标的计算评估。常用的方法有：计算机仿真法、原型仿真法、仿真实验床法等。

3.6.2

效能评估effectivenessevaluation

对集群系统执行某项任务结果或进程的质量好坏、作用大小、自身状态等综合效率指标的量化计算

或结论性评价。

3.6.3

自主协同能力评估autonomouscollaborationabilityevaluation

采用定性/定量评价指标，对无人集群的集群自主性和协同能力进行综合结论性评价。

3.6.4

系统鲁棒性评估systemrobustnessevaluation

采用定性/定量评价指标，对无人集群的鲁棒性进行综合评价。

3.6.5

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序参量orderparameter

采用平均归一化速度的模来描述集群系统有序程度的定量指标。

3.6.6

集群使用可用度swarmoperationalavailability

在任务持续期间按固定时间间隔进行采样，得到能工作个体数量与集群总数比例的平均值。

3.6.7

集群任务可靠度swarmmissionreliability

集群在任务剖面时间段内的无故障时间占总时间的比例。

3.6.8

集群连通可靠度swarmconnectivityreliability

集群数据链在任务剖面时间段内的无故障时间占总时间的比例。

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索  引

B

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

C

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

操作员控制单元····································································································3.3.2

D

导航···················································································································3.2.1

F

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

仿真评估·············································································································3.6.1

访问控制策略·······································································································3.4.8

非合作行为········································································································3.1.23

分布式架构········································································································3.1.39

蜂拥控制·············································································································3.3.9

G

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

感知绝对一致性··································································································3.2.10

感知相对一致性··································································································3.2.11

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

H

合作行为············································································································3.1.24

混合式架构········································································································3.1.40

J

集群编队·············································································································3.5.3

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

集群行为············································································································3.1.22

集群任务可靠度····································································································3.6.7

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

集群相变·············································································································3.5.5

集群重构·············································································································3.5.4

集中式架构········································································································3.1.38

紧密编队·············································································································3.5.2

竞争行为············································································································3.1.25

K

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

跨域协同············································································································3.1.10

M

目标分配·············································································································3.5.7

P

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频谱分配·············································································································3.5.8

频谱感知·············································································································3.2.6

频谱决策·············································································································3.5.9

平台···················································································································3.1.1

Q

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

群集运动控制·····································································································3.3.10

群体智能············································································································3.1.28

群智汇聚············································································································3.1.30

群智激发············································································································3.1.29

群智涌现············································································································3.1.31

群智优化············································································································3.1.32

R

人机共融············································································································3.1.34

人机交互············································································································3.1.33

人机接口············································································································3.1.35

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

任务规划·············································································································3.5.1

任务行为············································································································3.1.26

任务模块············································································································3.1.27

S

随遇接入·············································································································3.4.7

T

态势感知············································································································3.2.12

同构集群·············································································································3.1.6

同构协同············································································································3.1.11

W

网络拓扑·············································································································3.4.2

网状网················································································································3.4.3

无人集群（系统）·································································································3.1.4

无人系统·············································································································3.1.2

X

系统鲁棒性评估····································································································3.6.4

效能评估·············································································································3.6.2

协调···················································································································3.1.8

协调控制·············································································································3.3.7

协同···················································································································3.1.9

协同等级参数·······································································································3.4.9

协同感知·············································································································3.2.7

协同控制·············································································································3.3.6

协同搜索············································································································3.5.10

协同态势感知·····································································································3.2.13

协作···················································································································3.1.7

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协作感知·············································································································3.2.8

序参量················································································································3.6.5

Y

遥操作···············································································································3.1.17

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

异构集群·············································································································3.1.5

异构协同············································································································3.1.12

远程控制············································································································3.1.18

Z

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

智能体················································································································3.1.3

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

自主协同能力评估·································································································3.6.3

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

自主性等级········································································································3.1.19

自主性协同········································································································3.1.20

自组网················································································································3.4.6

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参 考 文 献

[1]GB/T9390—2017导航术语

[2]GB/T38152—2019无人驾驶航空器系统术语

[3]ARP6128UnmannedSystemsTerminology

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目  次

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

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

1范围.....................................................................................................................................................................1

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

3术语和定义.........................................................................................................................................................1

3.1通用类.........................................................................................................................................................1

3.2感知类.........................................................................................................................................................5

3.3控制类.........................................................................................................................................................6

3.4通信类.........................................................................................................................................................7

3.5规划类.........................................................................................................................................................8

3.6评估类.........................................................................................................................................................9

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

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智能无人集群术语

1范围

本文件定义了智能无人集群的架构、感知、控制、通信、规划和评估等术语。

本文件适用于智能无人集群相关技术的理解及智能无人集群系统的设计、研制、使用和维护。

2引用文件

本文件没有规范性引用文件。

3术语和定义

3.1架构类

3.1.1

平台platform

一个实体的物理基础设施。

3.1.2

无人系统unmannedsystem

通过施加电力完成给定任务的平台无人的机电系统。

注：无人系统可以是移动的或者固定的，如：无人地面设备、无人空中设备、无人水下设备和无人水面设备、无人

值守装备和无人值守地面传感器装备。

3.1.3

智能体agent

代理

能够代表另一个实体行动的实体。

3.1.4

无人集群（系统）unmannedswarm（system）

一起自主、协调、鲁棒地完成特定的任务的一组无人系统。

注：无人集群是一组具备部分自主能力的复杂系统，通过有人/无人操作装置的辅助以及一名高级操作员的监控，

一起完成特定任务。

3.1.5

异构集群heterogeneousswarm

具有不同属性的个体组成的无人集群。

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3.1.6

同构集群homogeneousswarm

具有相同属性的个体组成的无人集群。

3.1.7

协作cooperation

合作

无人集群中个体配合其他个体完成某一任务的方式。

3.1.8

协调coord