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

Algorithm 2

Algorithm for determining the reward value.

Input:, sensing information, distance information

Output:

1:

 Detecting a collision with any other objects:

2: ()

3: ifthen

4:  () then

5: ifthen

6:  

7:  return

8: end if

9: end if

 When the agent reaches the target:

10: ifthen

11: ()

12: ifthen

13:  ifthen

14:   

15:   return

16:  end if

17: end if

18: end if

 Calculating the reward in the other cases:

19:

20:

21:

22:

23: )

24: )

25: ifthen

26: if

27: else

28: end if

29: return