AoI and Energy Tradeoff for Aerial-Ground Collaborative MEC: A Multi-Objective Learning Approach

This paper studies the age of information (AoI) and energy tradeoff (AET) problem in an aerial-ground collaborative mobile edge computing system, where a high-altitude platform and an unmanned aerial vehicle (UAV) work together to offer computing services for ground devices (GDs). The AET problem is formulated as a multi-objective optimization problem (MOP) that aims at simultaneously minimizing the total AoI of GDs and total energy consumption of the UAV by optimizing its flight paths and task offloading ratios. Addressing the AET problem poses a significant challenge due to the inherent conflict between the two objectives. The existing methods cannot well address the MOP because they adopt the linear combination to transform an MOP into a single-objective optimization problem using fixed weights (i.e., preferences), ignoring the conflict between objectives. Moreover, user preferences may change over time in dynamic MEC systems. To overcome these challenges, we first build a multi-objective Markov decision process model with a vectorial reward for the AET problem. There are one-to-one relationships between each component of the reward and one of the two objectives. Then, we propose a multi-objective learning algorithm based on proximal policy optimization (PPO), which primarily comprises a training phase and an evolutionary phase. The former adopts multi-objective PPO to iteratively optimize multiple learning individuals, aiming to obtain a nondominated policy set. The latter employs a genetic operator to further improve the quality of each policy in the set. Specifically, the crossover and mutation operators operate at the parameter level of policy networks, avoiding stagnation and premature convergence. The experiment results validate that the proposed approach obtains a set of excellent nondominated policies and a favorable balance between objectives. Moreover, the proposed approach achieves improvements of at least 39.8%, 2.1%, and 15.3% regarding AoI, energy consumption, and cost compared with several algorithms.