Deep Reinforcement Learning for Interference-Aware Path Planning of Cellular-Connected UAVs

摘要

In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV acts as a cellular user equipment (UE) and aims at achieving a tradeoff between maximizing energy efficiency and minimizing both wireless latency and the interference caused on the ground network along its path. The problem is cast as a dynamic game among UAVs. To solve this game, a deep reinforcement learning algorithm, based on echo state network (ESN) cells, is proposed. The introduced deep ESN architecture is trained to allow each UAV to map each observation of the network state to an action, with the goal of minimizing a sequence of time-dependent utility functions. Each UAV uses ESN to learn its optimal path, transmission power, and cell association vector at different locations along its path. The proposed algorithm is shown to reach a subgame perfect Nash equilibrium upon convergence. Simulation results show that the proposed scheme achieves better wireless latency per UAV and rate per ground UE while requiring a number of steps that is comparable to a heuristic baseline that considers moving via the shortest distance towards the corresponding destinations.