Air-Ground Spatial Crowdsourcing with UAV Carriers by Geometric Graph Convolutional Multi-Agent Deep Reinforcement Learning

Spatial Crowdsourcing (SC) has been proved as an effective paradigm for data acquisition in urban environments. Apart from using human participants, with the rapid development of unmanned vehicles (UVs) technologies, unmanned aerial or ground vehicles (UAVs, UGVs) are equipped with various high-precision sensors, enabling them to become new types of data collectors. However, UGVs' operational range is constrained by the road network, and UAVs are limited by power supply, it is thus natural to use UGVs and UAVs together as a coalition, and more precisely, UGVs behave as the UAV carriers for range extensions to achieve complicated air-ground SC tasks. In this paper, we propose a novel communication-based multi-agent deep reinforcement learning method called "GARL", which consists of a multi-center attention-based graph convolutional network (GCN) to accurately extract UGV specific features from UGV stop network called "MC-GCN", and a novel GNN-based communication mechanism called "E-Comm"to make the cooperation among UGVs adaptive to constant changing of geometric shapes formed by UGVs. Extensive simulation results on two campuses of KAIST and UCLA campuses show that GARL consistently outperforms eight other baselines in terms of overall efficiency.