Cooperative UAV Resource Allocation and Task Offloading in Hierarchical Aerial Computing Systems: A MAPPO-Based Approach
Bibliographic record
Abstract
This article investigates a hierarchical aerial computing system, where both high-altitude platforms (HAPs) and unmanned aerial vehicles (UAVs) provision computation services for ground devices (GDs). Different from the existing works which ignored UAV task offloading to HAPs and suffered long transmission delay between HAPs and GDs, in our system, UAVs are responsible for collecting the tasks generated by GDs. Considering limited resources and constrained coverage, UAVs need to cooperatively allocate their resources (including spectrum, caching, and computing) to GDs. After collecting GD tasks, UAVs are allowed to offload part of these tasks to the HAP, in order to minimize task processing delay and then better satisfy GD delay requirement. Our objective is to maximize the amount of computed tasks while satisfying tasks’ heterogeneous Quality-of-Service (QoS) requirements through the joint optimization of UAV resource allocation and task offloading. To this end, a joint optimization problem is first formulated as a partially observable Markov decision process (POMDP) under the constraints of available resources, UAV energy, and collision avoidance. Then, we design a multiagent proximal policy optimization (MAPPO)-based algorithm to solve the optimization problem. By introducing the centralized training with decentralized execution framework, UAVs acting as agents can cooperatively make decisions on GDs association, resource allocation, and task offloading according to their local observations. In addition, state normalization and action mask are also adopted to improve training efficiency. Experimental results verify the efficiency of the proposed algorithm and the system performance is also analyzed by the numerical results.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".