Method and system for coordinated control of unmanned aerial vehicle (uav) swarm based on communication information completion

A method for coordinated control of an unmanned aerial vehicle (UAV) swarm based on communication information completion, wherein the method comprises:

• step S1:
• obtaining, by each UAV, a local observation of the UAV from an environment, wherein the local observation is obtained in real time through a sensor disposed on the UAV;
• step S2:
• in a centralized training phase, obtaining an information weight based on the local observation through an information-level weighting network;
• obtaining weighted information of each UAV based on the information weight;
• generating a global state through an adaptive generation network based on the weighted information of each UAV;
• obtaining a global action-value function by integrating a local action-value function of each UAV through a mixing network based on the global state and the local action-value function of the UAV;
• wherein the local action-value function is calculated by each UAV based on the local observation through an independent Q-network;
• the UAV swarm interacting with the environment to obtain a reward based on the global action-value function;
• updating a parameter of the mixing network based on the reward through a first loss function;
• updating a parameter of the adaptive generation network and a parameter of the information-level weighting network based on the information weight, the local observation, and the global state by a generative adversarial network loss function;
• step S3:
• re-obtaining an information weight according to an updated information-level weighting network, and transmitting the information weight to each UAV;
• and
• step S4:
• in a distributed execution phase, obtaining, by each UAV, the local action-value function of the UAV based on the local observation and the information weight through a Transformer-based decoder, and performing coordinated decision-making based on the local action-value function through a policy network to guide the UAV swarm to execute a corresponding action.