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Fontanesi, G., Zhu, A., Arvaneh, M. orcid.org/0000-0002-5124-3497 et al. (1 more author) (Submitted: 2022) A transfer learning approach for UAV path design with connectivity outage constraint. [Preprint - arXiv] (Submitted)
Abstract
The connectivity-aware path design is crucial in the effective deployment of autonomous Unmanned Aerial Vehicles (UAVs). Recently, Reinforcement Learning (RL) algorithms have become the popular approach to solving this type of complex problem, but RL algorithms suffer slow convergence. In this paper, we propose a Transfer Learning (TL) approach, where we use a teacher policy previously trained in an old domain to boost the path learning of the agent in the new domain. As the exploration processes and the training continue, the agent refines the path design in the new domain based on the subsequent interactions with the environment. We evaluate our approach considering an old domain at sub-6 GHz and a new domain at millimeter Wave (mmWave). The teacher path policy, previously trained at sub-6 GHz path, is the solution to a connectivity-aware path problem that we formulate as a constrained Markov Decision Process (CMDP). We employ a Lyapunov-based model-free Deep Q-Network (DQN) to solve the path design at sub-6 GHz that guarantees connectivity constraint satisfaction. We empirically demonstrate the effectiveness of our approach for different urban environment scenarios. The results demonstrate that our proposed approach is capable of reducing the training time considerably at mmWave.
Metadata
Item Type: | Preprint |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 The Author(s). For reuse permissions, please contact the Author(s). |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 05 Jul 2024 10:03 |
Last Modified: | 05 Jul 2024 10:03 |
Status: | Submitted |
Identification Number: | 10.48550/arXiv.2211.03696 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:214470 |
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