UAV Coverage on DroneConnect
80Coverage RatioStatic MILP upper bound
Evaluation Results
| Method | Links | |
|---|---|---|
| Static MILP upper boundM=5, N=102026.03 | 80 | |
| Ours (CTDE, dual-attention)M=5, N=10, Comm=UC, Obs=FO2026.03 | 79 | |
| Centralized single-agent RLM=5, N=10, Obs=FO2026.03 | 79 | |
| Ours (CTDE, dual-attention)M=5, N=10, Comm=RC, Obs=FO2026.03 | 77 | |
| Static MILP upper boundM=3, N=62026.03 | 77 | |
| Ours (CTDE, dual-attention)M=3, N=6, Comm=UC, Obs=FO2026.03 | 76 | |
| Ours (CTDE, dual-attention)M=5, N=10, Comm=UC, Obs=PO2026.03 | 76 | |
| Centralized single-agent RLM=3, N=6, Obs=FO2026.03 | 75 | |
| Ours (CTDE, dual-attention)M=3, N=6, Comm=RC, Obs=FO2026.03 | 74 | |
| Ours (CTDE, dual-attention)M=5, N=10, Comm=RC, Obs=PO2026.03 | 74 | |
| Ours (CTDE, dual-attention)M=3, N=6, Comm=UC, Obs=PO2026.03 | 72 | |
| Ours (CTDE, dual-attention)M=3, N=6, Comm=RC, Obs=PO2026.03 | 71 | |
| Ablation: no inter-communicationM=5, N=10, Comm=RC, Obs=PO2026.03 | 65 | |
| Ablation: no entity attentionM=5, N=10, Comm=RC, Obs=PO2026.03 | 63 |