Multi-UAV Assisted Flood Navigation of Waterborne Vehicles using Deep Reinforcement Learning

Abstract

During disasters, such as floods, it is crucial to get real-time ground information for planning rescue and response operations. With the advent of technology, Unmanned Aerial Vehicles (UAVs) are being deployed for real-time path planning to provide support to evacuation teams. However, their dependency on expert human pilots for command and control limits their operational capacity to the line-of-sight range. In this paper, we utilize a Deep Reinforcement Learning algorithm to autonomously control multiple UAVs for area coverage. The objective is to identify serviceable paths for safe navigation of waterborne evacuation vehicles (WBVs) to reach critical location(s) during floods. The UAVs are tasked to capture the obstacle-related data and identify shallow water regions for unrestricted motion of the WBV(s). The data gathered by UAVs is used by the Minimum expansion A* (MEA*) algorithm for path planning to assist WBV(s). MEA* addresses the node expansion issue with the standard A* algorithm, by pruning the unserviceable nodes/locations based on the captured information, hence expediting the path planning process. The proposed approach, MEA*MADDPG, is compared with other prevalent techniques from the literature over simulated flood environments with moving obstacles. The results highlight the significance of the proposed model as it outperforms other techniques when compared over various performance metrics.