A Method of Multi-UAV Cooperative Task Assignment Based on Reinforcement Learning

Algorithm 1

Algorithm of MA-SAC.

(1)	Initialize environment
(2)	Initialize critic network and actor network
(3)	Initialize max episodes, replay buffer, batch size
(4)	for episode [1, episodes] do
(5)	Reset environment
(6)	Get current state for each agent,
(7)	for step [1, steps] do
(8)	Select actions for each agent
(9)	Get all agents next states and rewards
(10)	Store < , , , > to replay buffer D
(11)	if > then
(12)	Sample batch B from replay buffer D
(13)	for , where  = 1:N do
(14)	Update the critic network
(15)	Update the actor network
(16)	Update the target network according to formulas (15), (16)
(17)	end for
(18)	end if
(19)	end for
(20)	end for