Collaborative Area Coverage Algorithm based on Iterative Teacher-Student Training Ai Yuhao, Liu Zhenghua*, Wang weihong

AI Yuhao; LIU Zhenghua; WANG weihong

doi:10.12382/bgxb.2025.0274

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Collaborative Area Coverage Algorithm based on Iterative Teacher-Student Training Ai Yuhao, Liu Zhenghua*, Wang weihong

更新时间：2026-03-09

- Collaborative Area Coverage Algorithm based on Iterative Teacher-Student Training Ai Yuhao, Liu Zhenghua*, Wang weihong
- Acta Armamentarii (2026)
- 作者机构：
  
  北京航空航天大学自动化科学与电气工程学院,北京,100191
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0274
  CLC： TP183
- Received：14 April 2025，
  
  Online First：09 March 2026，
- 稿件说明：
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艾雨豪，刘正华，王卫红. 基于迭代式师生训练的协同区域覆盖算法[J/OL]. 兵工学报, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0274.

. Collaborative area coverage algorithm based on iterative teacher-student training ai yuhao, liu zhenghua*, wang weihong[J/OL]. Acta Armamentarii, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0274. (in Chinese)
艾雨豪，刘正华，王卫红. 基于迭代式师生训练的协同区域覆盖算法[J/OL]. 兵工学报, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0274. DOI：

. Collaborative area coverage algorithm based on iterative teacher-student training ai yuhao, liu zhenghua*, wang weihong[J/OL]. Acta Armamentarii, 2026(2026-03-09). https://doi.org/10.12382/bgxb.2025.0274. (in Chinese) DOI：

摘要

针对无先验信息条件下的无人机协同区域覆盖路径规划问题，提出一种融合课程学习与异构智能体近端策略优化（Heterogeneous-Agent Proximal Policy Optimization

HAPPO）算法的迭代式师生训练框架。通过设计多阶段课程训练方法，将复杂覆盖任务分解为从简单到复杂的子任务序列，显著提升了HAPPO算法的训练效率与收敛速度。对于多场景中深度强化学习算法泛化能力不足的问题，在课程训练基础上引入迭代式师生学习机制，将初级课程训练收敛的模型作为教师网络，通过知识蒸馏指导学生网络进行二次课程训练，从而增强模型对不同环境的适应性。仿真实验表明，通过引入课程训练与迭代式师生学习机制，所提算法在训练过程中表现出更快的收敛速度，并在测试阶段实现了更短的区域覆盖时间与更低的单元重复访问率，显著提升了多无人机协同区域覆盖任务中的效率与鲁棒性。

Abstract

To address the problem of cooperative area coverage path planning for unmanned aerial vehicles (UAVs) under conditions with no prior information

this paper proposes an iterative teacher-student training framework that integrates curriculum learning with the Heterogeneous-Agent Proximal Policy Optimization (HAPPO) algorithm. By designing a multi-stage curriculum training method

the complex coverage task is decomposed into a sequence of sub-tasks ranging from simple to complex

significantly improving the training efficiency and convergence speed of the HAPPO algorithm.To solve the poor generalization capability of deep reinforcement learning algorithms in multi-scenario applications

an iterative teacher-student learning mechanism is introduced based on curriculum training. Specifically

the model converged through primary curriculum training serves as the teacher network to guide the student network via knowledge distillation during secondary curriculum training

thereby enhancing the model's adaptability to different environments. Simulation results demonstrate that the curriculum training greatly accelerates the algorithm's convergence speed

and the proposed algorithm achieves shorter area coverage time and lower cell revisit rate

providing an efficient and robust solution for UAV cooperative area coverage tasks.

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references

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