Towards Robust Multi-UAV Collaboration: MARL with Noise-Resilient Communication and Attention Mechanisms

2025-03-04 · Zilin Zhao, Chishui Chen, Haotian Shi, Jiale Chen, Xuanlin Yue, Zhejian Yang, Yang Liu

Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection efficiency. However, collaborative communication and decision-making for multiple UAVs remain major challenges in path planning, especially in noisy environments. To efficiently accomplish complex information collection tasks in 3D space and address robust communication issues, we propose a multi-agent reinforcement learning (MARL) framework for UAV path planning based on the Counterfactual Multi-Agent Policy Gradients (COMA) algorithm. The framework incorporates attention mechanism-based UAV communication protocol and training-deployment system, significantly improving communication robustness and individual decision-making capabilities in noisy conditions. Experiments conducted on both synthetic and real-world datasets demonstrate that our method outperforms existing algorithms in terms of path planning efficiency and robustness, especially in noisy environments, achieving a 78\% improvement in entropy reduction.

📄 PDF Abstract BibTeX arXiv:2503.02913

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zilin-zhao/iros25-supp 공식 구현

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counterfactualDecision Making Multi-agent Reinforcement Learning

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