Multi-UAV Cooperative Searching and Tracking for Moving Targets Based on Multi-Agent Reinforcement Learning

In this paper, we propose a distributed multi-agent reinforcement learning (MARL) method to learn cooperative searching and tracking policies for multiple unmanned aerial vehicles (UAVs) with limited sensing range and communication ability. Firstly, we describe the system model for multi-UAV cooperative searching and tracking for moving targets and consider average observation rate and average exploration rate as the metrics. Moreover, we propose the information update and fusion mechanisms to enhance environment perception ability of the multi-UAV system. Then, the details of our method are demonstrated, including observation and action space representation, reward function design and training framework based on multi-agent proximal policy optimization (MAPPO). The simulation results have shown that our method has well convergence performance and outperforms other baseline algorithms in terms of average observation rate and average exploration rate.