Collaborative Route Planning of UAVs, Workers, and Cars for Crowdsensing in Disaster Response

Efficiently obtaining the up-to-date information in the disaster-stricken area is the key to successful disaster response. Unmanned aerial vehicles (UAVs), workers and cars can collaborate to accomplish sensing tasks, such as life detection task in disaster-stricken areas. In this paper, we explicitly address the route planning for a group of agents, including UAVs, workers, and cars, with the goal of maximizing the sensing task completion rate. we propose a MARL-based heterogeneous multi-agent route planning algorithm called MANF-RL-RP. The algorithm has made targeted designs in terms of global-local dual information processing and model structure for heterogeneous multi-agent, making it effectively considers the collaboration among heterogeneous agents and the long-term impact of current decisions. Finally, we conducted detailed experiments based on the rich simulation data. In comparison to the baseline algorithms, namely Greedy-SC-RP and MANF-DNN-RP, MANF-RL-RP has exhibited a significant performance improvement. Compared to MANF-DNN-RP and Greedy-SC-RP, the task completion rate based on MANF-RL-RP increased by an average of 8.82% and 56.8%, respectively.