发表机构
National Chung Cheng University; Advanced Institute of Manufacturing with High-tech Innovations (AIM-HI), National Chung Cheng University（中正大学; 中正大学先进制造创新研究院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对灾后搜救无人机ISAC的能量耦合问题，提出CG-SAC框架，联合优化多参数，在2000个场景中能效优于DRL基准，任务完成步骤减少66%-82%，通信速率满足率达99.6%。
AI 中文摘要
无人机（UAV）是集成感知与通信（ISAC）的理想平台，但其机载能量有限，导致感知精度、通信质量与推进成本间存在强耦合关系。本文提出一种带推进感知奖励塑形的课程引导软演员-评论家（CG-SAC）框架，用于实现高能效的无人机智能感知与通信，联合优化三维轨迹、通信-感知功率分配及单用户功率分配。文中引入旋翼推进模型以推导闭式推进经济巡航速度，该速度被用于构建推进感知速度塑形项，结合导航、节点访问、能效及约束惩罚项形成归一化复合奖励。训练期间，采用对数线性课程逐步收紧通信、感知及邻近性要求。在2000个随机场景中，CG-SAC的平均能效达0.72 Mbits/J，显著优于所评估的深度强化学习（DRL）基准方法。在成功完成的任务中，其平均需要107.6个步骤，相较于基准方法减少了66%至82%的飞行步骤。关键在于，学习到的策略展现出任务感知的速度适应能力：在服务点附近减速，在转运过程中加速，同时在服务时刻实现99.6%的通信速率满足率。 ablation结果进一步证明了各奖励组件在平衡任务可行性与能效方面的互补作用。
英文摘要
Uncrewed aerial vehicles (UAVs) are promising platforms for integrated sensing and communication (ISAC), but their limited onboard energy creates a strong coupling among sensing accuracy, communication quality, and propulsion cost. This paper proposes a curriculum-guided soft actor-critic (CG-SAC) framework with propulsion-aware reward shaping for energy-efficient UAV-ISAC, jointly optimizing the 3D trajectory, communication-sensing power split, and per-user power allocation. A rotary-wing propulsion model is incorporated to derive a closed-form propulsion-economic cruising speed, which is used to construct a propulsion-aware speed-shaping term within a normalized composite reward together with navigation, node-visiting, energy-efficiency, and constraint-penalty terms. A log-linear curriculum progressively tightens the communication, sensing, and proximity requirements during training. Across 2000 randomized scenarios, CG-SAC achieves an average energy efficiency of 0.72 Mbits/J, substantially outperforming the evaluated DRL baselines. Among successfully completed missions, it requires 107.6 steps on average, corresponding to a 66%--82% reduction in flight steps relative to the baselines. Crucially, the learned policy exhibits mission-aware speed adaptation by decelerating near service points and accelerating during transit, while achieving a 99.6% communication-rate satisfaction ratio at service instants. Ablation results further demonstrate the complementary roles of the reward components in balancing mission feasibility and energy efficiency.
Comments14 pages, 9 figures, 4 tables. Submitted to an IEEE journal
