Federated Reinforcement Learning-Based UAV Swarm System for Aerial Remote Sensing

Algorithm 1

Algorithm for getting the state.

Input: sensing information, distance information

Output:

1: ()

 Calculating state values regarding sensing:

2:

3: for each sensing value, , in sensing value set, do.

4: 

5: end for.

6:

7:

8: for, in do

9: 

10: if) then)

11: end for

12: for in range() do

13: /

 Calculating state values regarding distance:

15:

16: )

17: ifthen

18: else

19: ()

20:

21:

22:

23: return