A Multiphase Semistatic Training Method for Swarm Confrontation Using Multiagent Deep Reinforcement Learning

Table 1

The attributes of a tank.

Maximum HP	15 points	The angular velocity of the tank rotation	10°/s
The maximum speed of the tank	15 m/s	The field of view distance of the tank	70 m
The angle of view of the tank	360°	Cooling time for firing shells	1.6 s
Maximum damage of shell	10 points	The blast radius of the shell	2 m
Maximum fire speed	15 m/s	Minimum fire speed	10 m/s