Mobile crowdsensing (MCS) is attracting considerable attention in the past few years as a new paradigm for large-scale information sensing. Unmanned aerial vehicles (UAVs) have played a significant role in MCS tasks and served as crucial nodes in the newly-proposed space-air-ground integrated network (SAGIN). In this paper, we incorporate SAGIN into MCS task and present a Space-Air-Ground integrated Mobile CrowdSensing (SAG-MCS) problem. Based on multi-source observations from embedded sensors and satellites, an aerial UAV swarm is required to carry out energy-efficient data collection and recharging tasks. Up to date, few studies have explored such multi-task MCS problem with the cooperation of UAV swarm and satellites. To address this multi-agent problem, we propose a novel deep reinforcement learning (DRL) based method called Multi-Scale Soft Deep Recurrent Graph Network (ms-SDRGN). Our ms-SDRGN approach incorporates a multi-scale convolutional encoder to process multi-source raw observations for better feature exploitation. We also use a graph attention mechanism to model inter-UAV communications and aggregate extra neighboring information, and utilize a gated recurrent unit for long-term performance. In addition, a stochastic policy can be learned through a maximum-entropy method with an adjustable temperature parameter. Specifically, we design a heuristic reward function to encourage the agents to achieve global cooperation under partial observability. We train the model to convergence and conduct a series of case studies. Evaluation results show statistical significance and that ms-SDRGN outperforms three state-of-the-art DRL baselines in SAG-MCS. Compared with the best-performing baseline, ms-SDRGN improves 29.0% reward and 3.8% CFE score. We also investigate the scalability and robustness of ms-SDRGN towards DRL environments with diverse observation scales or demanding communication conditions.
Keywords: UAV control; deep reinforcement learning; graph network; maximum-entropy learning; mobile crowdsensing.