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This paper considers the trajectory design problem for unmanned aerial vehicles (UAVs) via meta-reinforcement learning. It is assumed that the UAV can move in different directions to explore a specific area and collect data from the ground nodes (GNs) located in the area. The goal of the UAV is to reach the destination and maximize the total data collected during the flight on the trajectory while avoiding collisions with other UAVs. In the literature on UAV trajectory designs, vanilla learning algorithms are typically used to train a task-specific model, and provide near-optimal solutions for a specific spatial distribution of the GNs. However, this approach requires retraining from scratch when the locations of the GNs vary. In this work, we propose a meta reinforcement learning framework that incorporates the method of Model-Agnostic Meta-Learning (MAML). Instead of training task-specific models, we train a common initialization for different distributions of GNs and different channel conditions. From the initialization, only a few gradient descents are required for adapting to different tasks with different GN distributions and channel conditions. Additionally, we also explore when the proposed MAML framework is preferred and can outperform the compared algorithms.
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Fine-Grained Trajectory Optimization of Multiple UAVs for Efficient Data Gathering from WSNs
The increasing availability of autonomous smallsize Unmanned Aerial Vehicles (UAVs) has provided a promising way for data gathering from Wireless Sensor Networks (WSNs) with the advantages of high mobility, flexibility, and good speed. However, few works considered the situations that multiple UAVs are collaboratively used and the fine-grained trajectory plans of multiple UAVs are devised for collecting data from network including detailed traveling and hovering plans of them in the continuous space. In this paper, we investigate the problem of the Fine-grained Trajectory Plan for multi-UAVs (FTP), in which m UAVs are used to collect data from a given WSN, where m ≥ 1. The problem entails not only to find the flight paths of multiple UAVs but also to design the detailed hovering and traveling plans on their paths for efficient data gathering from WSN. The objective of the problem is to minimize the maximum flight time of UAVs such that all sensory data of WSN is collected by the UAVs and transported to the base station. We first propose a mathematical model of the FTP problem and prove that the problem is NP-hard. To solve the FTP problem, we first study a special case of the FTP problem when m = 1, called FTP with Single UAV (FTPS) problem. Then we propose a constantfactor approximation algorithm for the FTPS problem. Based on the FTPS problem, an approximation algorithm for the general version of the FTP problem when m > 1 is further proposed, which can guarantee a constant factor of the optimal solution. Afterwards, the proposed algorithms are verified by extensive simulations.
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- Award ID(s):
- 1907472
- PAR ID:
- 10280175
- Date Published:
- Journal Name:
- IEEE/ACM Transactions on Networking
- ISSN:
- 1063-6692
- Page Range / eLocation ID:
- 1 to 14
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1109/TNET.2020.3027555
