Multi-UAV Dynamic Task Assignment Based on Event-Triggered Graph Reinforcement Learning Under Weak Communication

This paper addresses the dynamic task assignment problem for multiple uncrewed aerial vehicles (UAVs) operating under weak communication. Existing learning-based methods face two primary challenges: limited scene generalization and excessive reliance on communication resources. To address these issues, this paper proposes an event-triggered reinforcement learning algorithm based on graph neural networks. First, heterogeneous UAVs and tasks are embedded into a graph to construct a relationship model, which clearly represents the complex constraints between UAVs and tasks. This graph structure overcomes the limitations of existing methods in capturing constraint relationships. Second, the incorporation of heterogeneous graph neural networks and adaptive attention mechanisms enables effective learning of changes in adjacent node information, allowing the model to capture complex constraint relationships and environmental dynamics. This approach also addresses the lack of sensitivity to environmental changes observed in existing methods. Lastly, a dynamic synchronization mechanism is employed to update task assignment statuses in real time, preventing task conflicts and ensuring efficient allocation. Experimental results demonstrate that this method strikes a better balance between task assignment quality and efficiency. It performs well in untrained scenarios and significantly reduces communication resource consumption. These results highlight its promising potential for application in weak communication environments.