Evolutionary Multi-Objective Reinforcement Learning Based Trajectory Control and Task Offloading in UAV-Assisted Mobile Edge Computing

This paper studies the trajectory control and task offloading (TCTO) problem in an unmanned aerial vehicle (UAV)-assisted mobile edge computing system, where a UAV flies along a planned trajectory to collect computation tasks from smart devices (SDs). We consider a scenario that SDs are not directly connected by the base station (BS) and the UAV has two roles to play: MEC server or wireless relay. The UAV makes task offloading decisions online, in which the collected tasks can be executed locally on the UAV or offloaded to the BS for remote processing. The TCTO problem involves multi-objective optimization as its objectives are to minimize the task delay and the UAV's energy consumption, and maximize the number of tasks collected by the UAV, simultaneously. This problem is challenging because the three objectives conflict with each other. The existing reinforcement learning (RL) algorithms, either single-objective RLs or single-policy multi-objective RLs, cannot well address the problem since they cannot output multiple policies for various preferences (i.e. weights) across objectives in a single run. This paper adapts the evolutionary multi-objective RL (EMORL), a multi-policy multi-objective RL, to the TCTO problem. This algorithm can output multiple optimal policies in just one run, each optimizing a certain preference. The simulation results demonstrate that the proposed algorithm can obtain more excellent nondominated policies by striking a balance between the three objectives regarding policy quality, compared with two evolutionary and two multi-policy RL algorithms.