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

Figure 6

Final position of UAVs as the episode goes by.

(a) 20 episodes

(b) 40 episodes

(c) 60 episodes

(d) 80 episodes

(e) 100 episodes

(f) 120 episodes

(g) 140 episodes

(h) 160 episodes