Our paper entitled “Maintaining connectivity for multi-UAV multi-target search using reinforcement learning” is accepted for publication in ACM DiVANET 2023.

In this paper, we propose a dynamic path planner that uses a multi-agent reinforcement learning (MARL) model with novel reward functions for multi-drone search and rescue (SAR) missions. The training procedure of the agents includes a convolutional neural network (CNN) that uses images which represent trajectory histories and connectivity states of each environment entity such as drones, targets, BS. Agents take actions and get feedback from the environment until the mission is completed. The model is trained with multiple missions with randomized target locations.