Attention Based Communication and Control for Multi-UAV Path Planning
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Abstract (arXiv)
Inspired by the multi-head attention (MHA) mechanism in natural language processing, this letter proposes an iterative single-head attention (ISHA) mechanism for multi-UAV path planning. The ISHA mechanism is run by a communication helper collecting the state embeddings of UAVs and distributing an attention score vector to each UAV. The attention scores computed by ISHA identify how many interactions with other UAVs should be considered in each UAV's control decision-making. Simulation results corroborate that the ISHA-based communication and control framework achieves faster travel with lower inter-UAV collision risks than an MHA-aided baseline, particularly under limited communication resources.
Key facts. Cited by 2 papers in the map (data through 14 Oct 2026). Builds on 11 of its 21 references that are in the map. First posted on arXiv 20 Dec 2021.
Builds on
11 of 21 references.
References · 11
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- 2018Soft Actor-Critic Algorithms and Applicationscited by 1,240
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- 2019Attention-based Fault-tolerant Approach for Multi-agent Reinforcement Learning Systemscited by 3
- 2019Remote UAV Online Path Planning via Neural Network Based Opportunistic Controlcited by 3
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Citing papers per year: 2023: 2.
2 papers.