Addressing the issue that a single intelligent agent cannot accomplish complex tasks during realistic sce-narios in civil and military domains,this paper reviews the null-space-based behavioral(NSB)fusion algorithm.Initially,the design concept and mathematical model of the NSB fusion algorithm are described.Then,a bibliomet-ric analysis of the algorithm is presented.The emphasis then shifts to the research progress of the algorithm,inclu-ding improvements in formation-speed saturation,discontinuous behavioral transitions,behavioral priority alloca-tion,and the combination of multiple algorithms.Finally,the paper analyzes issues in current research,highlight-ing that future development directions in multi-intelligent-agent formation control are the improvement of the adapta-bility of the algorithm,considering dynamics characteristics,addressing heterogeneous formations,and optimizing the behavior function.
维普
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