An Application of Inverse Reinforcement Learning to Estimate Interference in Drone Swarms

Despite the increasing applications, demands, and capabilities of drones, in practice they have only limited autonomy for accomplishing complex missions, resulting in slow and vulnerable operations and difficulty adapting to dynamic environments. To lessen these weaknesses, we present a computational framework for deducing the original intent of drone swarms by monitoring their movements. We focus on interference, a phenomenon that is not initially anticipated by drones but results in complicated operations due to its significant impact on performance and its challenging nature. We infer interference from predictability by first applying various machine learning methods, including deep learning, and then computing entropy to compare against interference. Our computational framework begins by building a set of computational models called double transition models from the drone movements and revealing reward distributions using inverse reinforcement learning. These reward distributions are then used to compute the entropy and interference across a variety of drone scenarios specified by combining multiple combat strategies and command styles. Our analysis confirmed that drone scenarios experienced more interference, higher performance, and higher entropy as they became more heterogeneous. However, the direction of interference (positive vs. negative) was more dependent on combinations of combat strategies and command styles than homogeneity.