# Synergizing Drone Delivery Order Pooling and Road Network Monitoring through Monitoring-Task Orderization

arXiv: https://arxiv.org/abs/2610.05270 · HTML: https://mlsanity.com/paper/2610.05270/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 45 references that are in the map.
- First posted on arXiv 4 Oct 2026.

## Builds on (most cited first, 15 of 15)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Inductive Representation Learning on Large Graphs](https://mlsanity.com/paper/1706.02216/) (2017)
- [Modeling Relational Data with Graph Convolutional Networks](https://mlsanity.com/paper/1703.06103/) (2017)
- [Graph Convolutional Reinforcement Learning](https://mlsanity.com/paper/1810.09202/) (2018)
- [Multi-Agent Game Abstraction via Graph Attention Neural Network](https://mlsanity.com/paper/1911.10715/) (2019)
- [Challenges and Opportunities in Deep Reinforcement Learning with Graph Neural Networks: A Comprehensive review of Algorithms and Applications](https://mlsanity.com/paper/2206.07922/) (2022)
- [Hybrid Multi-agent Deep Reinforcement Learning for Autonomous Mobility on Demand Systems](https://mlsanity.com/paper/2212.07313/) (2022)
- [Advanced computer vision for extracting georeferenced vehicle trajectories from drone imagery](https://mlsanity.com/paper/2411.02136/) (2024)
- [Inferring Latent Temporal Sparse Coordination Graph for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2403.19253/) (2024)
- [BMG-Q: Localized Bipartite Match Graph Attention Q-Learning for Ride-Pooling Order Dispatch](https://mlsanity.com/paper/2501.13448/) (2025)
- [Bayesian Ego-graph Inference for Networked Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2509.16606/) (2025)
- [Robo-taxi Fleet Coordination at Scale via Reinforcement Learning](https://mlsanity.com/paper/2504.06125/) (2025)
- [On Learning-Based Traffic Monitoring With a Swarm of Drones](https://mlsanity.com/paper/2503.21433/) (2025)

## Abstract (arXiv)

This paper investigates the real-time dispatch of a shared drone fleet for on-demand food delivery and urban road network monitoring. We consider a courier-drone collaborative setting in which couriers transport orders to launchpads and drones complete the final delivery leg to kiosks. Drones may consolidate multiple origin-destination orders within one flight and make monitoring-aware route adjustments to collect real-time traffic information subject to delivery-time constraints. This yields a joint decision problem coupling dynamic order-to-drone matching, multi-order pooling, routing, and time-varying monitoring under fleet-level competition and uncertainty. We propose monitoring-task orderization, which periodically converts road-network nodes with high congestion and stale information into virtual monitoring orders. Pooling these virtual tasks with food-delivery orders creates a unified heterogeneous task set and transforms the coupled matching-and-routing problem into an order-level decision process. Building on this abstraction, we formulate a decentralized graph-interdependent Multi-Agent Markov Decision Process and develop Graph Multi-Agent Q-Learning (Graph-MAQL), which captures localized inter-agent dependencies through bipartite match coordination graphs. Agent-task value estimates are then used as edge weights in a dynamic heterogeneous bipartite matching program for globally feasible execution. Experiments using real-world data reveal strong operational synergy between delivery and monitoring. Monitoring-task orderization improves monitoring performance by 25.1% with less than a 1% reduction in delivery performance, while Graph-MAQL improves the aggregate objective by up to 20.8%, reduces deadline violations by over 40%, and transfers zero-shot to higher demand intensity without retraining.