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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.15205 |
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| _version_ | 1866913556640825344 |
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| author | Wei, Anning Liang, Jintao Lin, Kaiyuan Li, Ziyue Zhao, Rui |
| author_facet | Wei, Anning Liang, Jintao Lin, Kaiyuan Li, Ziyue Zhao, Rui |
| contents | Existing multi-agent deep reinforcement learning (MADRL) methods for multi-UAV navigation face challenges in generalization, particularly when applied to unseen complex environments. To address these limitations, we propose a Dual-Transformer Encoder-based Proximal Policy Optimization (DTPPO) method. DTPPO enhances multi-UAV collaboration through a Spatial Transformer, which models inter-agent dynamics, and a Temporal Transformer, which captures temporal dependencies to improve generalization across diverse environments. This architecture allows UAVs to navigate new, unseen environments without retraining. Extensive simulations demonstrate that DTPPO outperforms current MADRL methods in terms of transferability, obstacle avoidance, and navigation efficiency across environments with varying obstacle densities. The results confirm DTPPO's effectiveness as a robust solution for multi-UAV navigation in both known and unseen scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_15205 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | DTPPO: Dual-Transformer Encoder-based Proximal Policy Optimization for Multi-UAV Navigation in Unseen Complex Environments Wei, Anning Liang, Jintao Lin, Kaiyuan Li, Ziyue Zhao, Rui Multiagent Systems Existing multi-agent deep reinforcement learning (MADRL) methods for multi-UAV navigation face challenges in generalization, particularly when applied to unseen complex environments. To address these limitations, we propose a Dual-Transformer Encoder-based Proximal Policy Optimization (DTPPO) method. DTPPO enhances multi-UAV collaboration through a Spatial Transformer, which models inter-agent dynamics, and a Temporal Transformer, which captures temporal dependencies to improve generalization across diverse environments. This architecture allows UAVs to navigate new, unseen environments without retraining. Extensive simulations demonstrate that DTPPO outperforms current MADRL methods in terms of transferability, obstacle avoidance, and navigation efficiency across environments with varying obstacle densities. The results confirm DTPPO's effectiveness as a robust solution for multi-UAV navigation in both known and unseen scenarios. |
| title | DTPPO: Dual-Transformer Encoder-based Proximal Policy Optimization for Multi-UAV Navigation in Unseen Complex Environments |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2410.15205 |