Search

Next-generation autonomous vehicles will require a level of team coordination that cannot be achieved using traditional Artificial Intelligence (AI) planning algorithms or Machine Learning (ML) algorithms alone. We present a method for controlling teams of military aircraft in air battle applications by using a novel combination of deep neuroevolution with an allocation-based task assignment algorithm. We describe the neuroevolution techniques that enable a deep neural network to evolve an effective policy, including a novel mutation operator that enhances the stability of the evolution process. We also compare this new method to policy gradient Reinforcement Learning (RL) techniques that we have utilized in previous work, and explain why neuroevolution presents several benefits in this particular application domain. The key analytical result is that neuroevolution makes it easier to select long sequences of actions following a consistent pattern, such as a continuous turning maneuver that occurs frequently in air engagements. We additionally describe multiple ways in which this neuroevolution approach can be integrated with allocation algorithms such as the Kuhn- Munkres Hungarian algorithm. We explain why gradient-free methods are particularly amenable to this hybrid approach and open up exciting new algorithmic possibilities. Since neuroevolution requires thousands of training episodes, we also describe an asynchronous parallelization scheme that yields order of magnitude speedup by evaluating multiple individuals from the evolving population simultaneously. Our deep neuroevolution approach out-performs human-programmed AI opponents with a win rate greater than 80% in multi-agent Beyond Visual Range air engagement simulations developed using AFSIM.†