Hierarchical RNNs with Graph Policy and Attention for Drone Swarm

Abstract In recent years, the drone swarm has experienced remarkable growth, finding applications across diverse domains such as agricultural surveying, disaster rescue and logistics delivery. However, the rapid expansion of drone swarm usage underscores the necessity for innovative approaches in the field. Traditional algorithms face challenges in adapting to complex tasks, environmental modeling and computational complexity, highlighting the need for more advanced solutions like multi-agent deep reinforcement learning to enhance efficiency and robustness in drone swarm. Our proposed approach tackles this challenge by embracing temporal and spatial. In terms of the temporal, the proposed approach builds upon historical data, it enhances the predictive capabilities regarding future behaviors. In the spatial, the proposed approach leverage graph theory to model the swarm's features, while attention mechanisms strengthen the relationships between individual drones. The proposed approach addresses the unique characteristics of drone swarms by incorporating temporal dependencies, spatial structures and attention mechanisms. Extensive experiments validate the effectiveness of the proposed approach.