AUTHOR=Ma Yunhong , Fang Weina , Wang Yiran , Kang Xinzhe 
  
TITLE=Research on multi-UAV collaborative reconnaissance based on MADDPG-VFNBV algorithm
  
JOURNAL=Aerospace Research Communications
  
VOLUME=Volume 4 - 2026
  
YEAR=2026
  
URL=https://www.frontierspartnerships.org/journals/aerospace-research-communications/articles/10.3389/arc.2026.17249
  
DOI=10.3389/arc.2026.17249
  
ISSN=2813-6209
  
ABSTRACT=To address uneven target allocation, repeated exploration, long path lengths, and decision instability caused by dynamic obstacles in multi-UAV cooperative reconnaissance in unknown 3D environments, this paper proposes a MADDPG-VFNBV algorithm that integrates Multi-Agent Deep Deterministic Policy Gradient with the Voronoi-Frontier-Next-Best-View framework. A global 3D voxel map is constructed through multi-UAV map fusion, and exploration targets are generated and assigned using Frontier detection, MeanShift clustering, and dynamic Voronoi partitioning. During NBV decision-making, the MADDPG policy adaptively balances information gain, path cost, coordination cost, and obstacle risk. Experiments show that the proposed algorithm improves reconnaissance efficiency, adaptive decision-making, and cooperative exploration performance in dynamic 3D environments.