Optimizing Risk-Aware Task Migration Algorithm Among Multiplex UAV Groups Through Hybrid Attention Multi-Agent Reinforcement Learning

doi:10.26599/TST.2024.9010013

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Optimizing Risk-Aware Task Migration Algorithm Among Multiplex UAV Groups Through Hybrid Attention Multi-Agent Reinforcement Learning

2025-02-01

DOI：10.26599/TST.2024.9010013

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Abstract

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Recently, with the increasing complexity of multiplex Unmanned Aerial Vehicles (multi-UAVs) collaboration in dynamic task environments, multi-UAVs systems have shown new characteristics of inter-coupling among multiplex groups and intra-correlation within groups. However, previous studies often overlooked the structural impact of dynamic risks on agents among multiplex UAV groups, which is a critical issue for modern multi-UAVs communication to address. To address this problem, we integrate the influence of dynamic risks on agents among multiplex UAV group structures into a multi-UAVs task migration problem and formulate it as a partially observable Markov game. We then propose a Hybrid Attention Multi-agent Reinforcement Learning (HAMRL) algorithm, which uses attention structures to learn the dynamic characteristics of the task environment, and it integrates hybrid attention mechanisms to establish efficient intra- and inter-group communication aggregation for information extraction and group collaboration. Experimental results show that in this comprehensive and challenging model, our algorithm significantly outperforms state-of-the-art algorithms in terms of convergence speed and algorithm performance due to the rational design of communication mechanisms.

Keywords:

Task analysis

Autonomous aerial vehicles

Heuristic algorithms

Costs

Multiplexing

Reinforcement learning

Vehicle dynamics

Unmanned Aerial Vehicle (UAV)

multiplex UAV group structures

task migration

multi-agent reinforcement learning