A collaborative siege method of multiple unmanned vehicles based on reinforcement learning

A method based on multi-agent reinforcement learning is proposed to tackle the challenges to capture escaping Target by Unmanned Ground Vehicles (UGVs). Initially, this study introduces environment and motion models tailored for cooperative UGV capture, along with clearly defined success criteria for direct capture. An attention mechanism integrated into the Soft Actor-Critic (SAC) is leveraged, directing focus towards pivotal state features pertinent to the task while effectively managing less relevant aspects. This allows capturing agents to concentrate on the whereabouts and activities of the target agent, thereby enhancing coordination and collaboration during pursuit. This focus on the target agent aids in refining the capture process and ensures precise estimation of value functions. The reduction in superfluous activities and unproductive scenarios amplifies efficiency and robustness. Furthermore, the attention weights dynamically adapt to environmental shifts. To address constrained incentives arising in scenarios with multiple vehicles capturing targets, the study introduces a revamped reward system. It divides the reward function into individual and cooperative components