Long-Horizon Constraint-Aware Collaborative Scheduling for Multiple Phased-Array Radars Using Mamba Temporal Encoding and Structured Hybrid Actions

Phased-array radar networks require real-time collaborative scheduling of search, tracking, and identification tasks under coupled resource, beam, time-window, and power constraints. Current decisions affect future residual power, task refresh intervals, and tracking uncertainty, making long-horizon scheduling particularly challenging. This paper proposes CS-Mamba, a long-horizon constraint-aware collaborative scheduling framework for homogeneous multiple phased-array radars. The scheduling problem is formulated as a finite-horizon constrained decision process with structured hybrid actions, where the discrete component represents radar–task matching and the continuous component represents transmit-power allocation. A Mamba-based temporal encoder is introduced to summarize long scheduling histories with linear sequence complexity. Based on the encoded representation, the scheduler predicts task priorities, constructs a masked radar–task bipartite graph, solves a constrained maximum-weight matching problem, and projects raw transmit powers onto the feasible power domain. In addition, an action-dependent radar model is incorporated to link transmit power, effective SNR, detection probability, measurement noise, and tracking covariance. The model is trained using behavioral cloning from constraint-aware heuristic trajectories followed by actor–critic fine-tuning. Experiments on the proposed MRSched-Bench show that CS-Mamba improves the normalized cost-effectiveness score from 0.62 to 0.78 compared with MAPPO in the Medium scenario, while reducing end-to-end decision latency from 24.5 ms to 12.8 ms per step. Additional ablation studies verify the contributions of temporal encoding, structured matching, feasible power projection, and two-stage training.