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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.18596 |
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| _version_ | 1866914212891066368 |
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| author | Zhou, Quanxi Mao, Wencan Liang, Yilei Tsukada, Manabu Liu, Yunling Crowcroft, Jon |
| author_facet | Zhou, Quanxi Mao, Wencan Liang, Yilei Tsukada, Manabu Liu, Yunling Crowcroft, Jon |
| contents | The widespread application of wireless communication technology has promoted the development of smart agriculture, where unmanned aerial vehicles (UAVs) play a multifunctional role. We target a multi-UAV smart agriculture system where UAVs cooperatively perform data collection, image acquisition, and communication tasks. In this context, we model a Markov decision process to solve the multi-UAV trajectory planning problem. Moreover, we propose a novel Elite Imitation Actor-Shared Ensemble Critic (EIA-SEC) framework, where agents adaptively learn from the elite agent to reduce trial-and-error costs, and a shared ensemble critic collaborates with each agent's local critic to ensure unbiased objective value estimates and prevent overestimation. Experimental results demonstrate that EIA-SEC outperforms state-of-the-art baselines in terms of reward performance, training stability, and convergence speed. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_18596 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | EIA-SEC: Improved Actor-Critic Framework for Multi-UAV Collaborative Control in Smart Agriculture Zhou, Quanxi Mao, Wencan Liang, Yilei Tsukada, Manabu Liu, Yunling Crowcroft, Jon Machine Learning The widespread application of wireless communication technology has promoted the development of smart agriculture, where unmanned aerial vehicles (UAVs) play a multifunctional role. We target a multi-UAV smart agriculture system where UAVs cooperatively perform data collection, image acquisition, and communication tasks. In this context, we model a Markov decision process to solve the multi-UAV trajectory planning problem. Moreover, we propose a novel Elite Imitation Actor-Shared Ensemble Critic (EIA-SEC) framework, where agents adaptively learn from the elite agent to reduce trial-and-error costs, and a shared ensemble critic collaborates with each agent's local critic to ensure unbiased objective value estimates and prevent overestimation. Experimental results demonstrate that EIA-SEC outperforms state-of-the-art baselines in terms of reward performance, training stability, and convergence speed. |
| title | EIA-SEC: Improved Actor-Critic Framework for Multi-UAV Collaborative Control in Smart Agriculture |
| topic | Machine Learning |
| url | https://arxiv.org/abs/2512.18596 |