Attention Based Communication and Control for Multi-UAV Path Planning

• URL: http://arxiv.org/abs/2112.12584v1
• Date: Mon, 20 Dec 2021 03:11:46 GMT
• Title: Attention Based Communication and Control for Multi-UAV Path Planning
• Authors: Hamid Shiri and Hyowoon Seo and Jihong Park and Mehdi Bennis
• Abstract summary: 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.
• Score: 48.389498274216926
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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