Spatio-temporal coverage planning algorithm for multi-UAV and multi-sensor cooperative search

Author:

Zheng Deyan,Liu Chunhui,Huang Lizhen

Abstract

Abstract A spatio-temporal coverage planning algorithm for multi-UAV and multi-sensor cooperative search is proposed in this paper, named STC-MARL, which is based on multi-agent reinforcement learning and allows several UAVs equipped with two types of sensors to learn to complete full view of a field of interest (FOI). The proposed STC-MARL algorithm can make participating UAVs to learn from the environment to complete the full coverage of a specific FOI while minimizing field of views (FOVs) interacted with each other. The experimental results show in detail with simulation that the UAVs in the mission can effectively accomplish the task of spatio-temporal coverage planning.

Publisher

IOP Publishing

Subject

General Physics and Astronomy

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