A Learnable Sparse Attention Graph Architecture for Heterogeneous Multi-UAV Air-to-Ground Mission Planning

In the complex problem of air-to-ground mission planning, multi-UAV systems face significant challenges such as system complexity and heterogeneity, insufficient target observability, and difficulties in collaborating information sharing. To address these issues, this paper proposes a novel learnable sparse attention graph architecture (SAGA). This architecture deeply integrates graph reasoning and policy optimization within the MAPPO framework and includes three innovative mechanisms: (i) a GATv2-based graph neural network encoder that performs multi-round distributed consensus on the communication graph among UAVs via a multi-head attention mechanism, enabling selective aggregation of tactical information; (ii) an edge predictor that learns to prune low-value communication links, generating a sparse and mission-adaptive communication topology; and (iii) an L1 sparsity penalty term that further enhances communication efficiency. In a self-developed simulation environment for heterogeneous multi-UAV mission planning, comprehensive comparative experiments were conducted against the following baseline reinforcement learning algorithms: MADDPG, MATD3, QMIX, MAPPO, TarMAC, DGN, and G2ANet. The experimental results show that SAGA achieves reward values of 390 and 1100 in small-scale and large-scale scenarios, and outperforms the best-performing baseline algorithm by more than 20% across all operational performance metrics. Generalization experiments validate the model’s robust transfer capability under unknown defense deployment modes. Ablation experiments further confirmed the individual contributions of the three components. This study provides an innovative and effective method for mission planning of heterogeneous multi-UAV systems in partially observable adversarial environments.