Federated Imitation Learning for UAV Swarm Coordination in Urban Traffic Monitoring

The popularization of unmanned aerial vehicles (UAVs) has boosted various civil applications such as traffic monitoring, in which the effective coordination of the UAV swarm plays a significant role in expanding the monitoring range and enhancing the execution efficiency. However, due to the isolated local environments as well as the heterogeneous execution capabilities, it is challenging to achieve highly consistent actions. In this article, we incorporate the federated learning framework with the imitation learning technique to coordinate the UAVs' maneuvers by interactively imitating the leader UAV's operations. During the interagent global model download phase, we utilize the generative adversarial imitation learning (GAIL) model to accurately follow the leader UAV's operations by removing the biased estimates of imitation parameters. While in the intraagent local model training phase, we utilize the self-imitation learning (SIL) model to correct delicate imitation errors by virtue of the follower UAVs' own historical valuable experiences. In order to achieve more efficient distributed parameter interactions, we regularize the federated gradient updates and eventually yield coordinated swarm policies. We evaluate the proposed algorithm in the UAV-based traffic monitoring scenario. Evaluation results demonstrate the superiorities on training and execution efficiencies.