Joint Computation Offloading, Channel Access and Scheduling Optimization in UAV Swarms: A Game-Theoretic Learning Approach

Coalition-based unmanned aerial vehicle (UAV) swarms havebeen widelyused in urgent missions. To fasten the completion, mobile edge computing (MEC) has been introduced into UAV networks where coalition leaders act as servers to help members with data computing. This paper investigates a relative delay optimization in MEC-assisted UAV swarms. Considering that the scheduling methods have great impact on the delay, some theoretical analyses are made and a scheduling method based on the shortest effective job first (SEJF) is proposed. Based on the coupled relationship between scheduling and resource allocation, the computation offloading and channel access problems are then jointly optimized. To solve the problem in distributed UAV networks, the optimization problem is formulated as an offloading game. It is proved that the game is an exact potential game (EPG) and it has at least one pure strategy Nash Equilibrium (PNE). To reach the PNE, a distributed offloading algorithm based on concurrent best-better response (CBBR) is designed. Finally, the simulations show that the performance of the proposed CBBR algorithm is better than traditional algorithms. Compared with other scheduling methods, the proposed scheduling method based on SEJF reduces the delay by up to 30%.