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

Table 1

Variables used for getting the state.

Notation	Description
	Set of state values
	Number of state values in
	Set of sensing values
	Each sensing value in
	Sum of sensing values in
	Average of sensing values in
	The maximum of the absolute values of
	Number of sensors attached onto the UAV
	Set of nearby objects
	The nearest object
	The distance to
	Normalized vector to