Attention-based communication and control for multi-UAV path planning

Shiri, Hamid; Seo, Hyowoon; Park, Jihong; Bennis, Mehdi (2022-05-02)
 
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URL:
https://doi.org/10.1109/lwc.2022.3171602

Shiri, Hamid
Seo, Hyowoon
Park, Jihong
Bennis, Mehdi
Institute of Electrical and Electronics Engineers
02.05.2022

H. Shiri, H. Seo, J. Park and M. Bennis, "Attention-Based Communication and Control for Multi-UAV Path Planning," in IEEE Wireless Communications Letters, vol. 11, no. 7, pp. 1409-1413, July 2022, doi: 10.1109/LWC.2022.3171602

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doi:https://doi.org/10.1109/lwc.2022.3171602
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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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