# Connectivity Management in Satellite-Aided Vehicular Networks with Multi-Head Attention-Based State Estimation

arXiv: https://arxiv.org/abs/2508.01060 · HTML: https://mlsanity.com/paper/2508.01060/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Multi-agent reinforcement learning, one of 15 directions in Deep reinforcement learning methods.
- Builds on 6 of its 22 references that are in the map.
- First posted on arXiv 1 Aug 2025.

## Placed in

- Deep reinforcement learning methods / [Multi-agent reinforcement learning](https://mlsanity.com/deeprl/multi-agent-reinforcement-learning/)

## Builds on (most cited first, 6 of 6)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Optuna: A Next-generation Hyperparameter Optimization Framework](https://mlsanity.com/paper/1907.10902/) (2019)
- [Self-Imitation Learning](https://mlsanity.com/paper/1806.05635/) (2018)
- [Stabilising Experience Replay for Deep Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1702.08887/) (2017)
- [Convergence Rates for Localized Actor-Critic in Networked Markov Potential Games](https://mlsanity.com/paper/2303.04865/) (2023)
- [6G Cellular Networks and Connected Autonomous Vehicles](https://mlsanity.com/paper/2010.00972/) (2020)

## Abstract (arXiv)

Managing connectivity in integrated satellite-terrestrial vehicular networks is critical for 6G, yet is challenged by dynamic conditions and partial observability. This letter introduces the Multi-Agent Actor-Critic with Satellite-Aided Multi-head self-attention (MAAC-SAM), a novel multi-agent reinforcement learning framework that enables vehicles to autonomously manage connectivity across Vehicle-to-Satellite (V2S), Vehicle-to-Infrastructure (V2I), and Vehicle-to-Vehicle (V2V) links. Our key innovation is the integration of a multi-head attention mechanism, which allows for robust state estimation even with fluctuating and limited information sharing among vehicles. The framework further leverages self-imitation learning (SIL) and fingerprinting to improve learning efficiency and real-time decisions. Simulation results, based on realistic SUMO traffic models and 3GPP-compliant configurations, demonstrate that MAAC-SAM outperforms state-of-the-art terrestrial and satellite-assisted baselines by up to 14% in transmission utility and maintains high estimation accuracy across varying vehicle densities and sharing levels.