Game of Drones: Multi-UAV Pursuit-Evasion Game With Online Motion Planning by Deep Reinforcement Learning

As one of the tiniest flying objects, unmanned aerial vehicles (UAVs) are often expanded as the ``swarm'' to execute missions. In this article, we investigate the multiquadcopter and target pursuit-evasion game in the obstacles environment. For high-quality simulation of the urban environment, we propose the pursuit-evasion scenario (PES) framework to create the environment with a physics engine, which enables quadcopter agents to take actions and interact with the environment. On this basis, we construct multiagent coronal bidirectionally coordinated with target prediction network (CBC-TP Net) with a vectorized extension of multiagent deep deterministic policy gradient (MADDPG) formulation to ensure the effectiveness of the damaged ``swarm'' system in pursuit-evasion mission. Unlike traditional reinforcement learning, we design a target prediction network (TP Net) innovatively in the common framework to imitate the way of human thinking: situation prediction is always before decision-making. The experiments of the pursuit-evasion game are conducted to verify the state-of-the-art performance of the proposed strategy, both in the normal and antidamaged situations.

Automated summary

In this article, the application of multiquadcopter and target pursuit-evasion game in obstacles environment is investigated. A pursuit-evasion scenario framework is proposed for high-quality simulation of urban environment, and a multiagent coronal bidirectionally coordinated network with target prediction is constructed to ensure the effectiveness of the damaged "swarm" system in pursuit-evasion mission.