Trajectory Planning and Resource Allocation for Multi-UAV Cooperative Computation

Wenlong Xu, Tiankui Zhang, Xidong Mu, Yuanwei Liu, Yapeng Wang

Research output: Contribution to journalArticlepeer-review


In the multiple unmanned aerial vehicle (UAV) mobile edge computing (MEC) systems, the cooperative computation among multiple UAVs can improve the overall computation service capability. Multi-UAV MEC systems can meet the quality of service requirements for computation intensive applications of ground terminals (GTs) in complex field environments, emergency disaster relief and other special scenarios. In this paper, a multi-UAV cooperative computation framework is proposed while taking the GT movement and random arrival of computation tasks into consideration. A long-term optimization problem is formulated for the joint optimization of UAV trajectory and resource allocation, subject to minimizing the total GT computation task completion time and the total system energy consumption. To solve this problem, a joint multiple time-scale optimization algorithm is proposed. In particular, the optimization problem is decomposed into a long time-scale multi-UAV trajectory planning subproblem and a short time-scale resource allocation subproblem. The proximal policy optimization algorithm is invoked to solve the long time-scale subproblem. The greedy algorithm and the successive convex approximation (SCA) method are employed to solve the short time-scale subproblem. Finally, a joint multiple time-scale optimization algorithm with a two-layer loop structure is proposed. Simulation results show that: 1) the proposed multi-UAV cooperative computation MEC system outperforms the conventional MEC system without collaboration among UAVs; and 2) the proposed algorithm can quickly adapt to different degrees of environmental dynamics and outperforms the benchmark algorithm for different network sizes, task requirements, and available resources.

Original languageEnglish
Pages (from-to)1
Number of pages1
JournalIEEE Transactions on Communications
Publication statusAccepted/In press - 2024


  • Autonomous aerial vehicles
  • deep reinforcement learning
  • Delays
  • Heuristic algorithms
  • mobile edge computing
  • multi-UAV cooperative computation
  • Optimization
  • resource allocation
  • Resource management
  • Task analysis
  • Trajectory
  • trajectory planning


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