提出分层强化学习框架，让无人机群在通信受限下高效协同避障与追踪。

Multiple quadrotor unmanned aerial vehicle (UAV) systems have garnered widespread research interest and fostered tremendous interesting applications, especially in multi-constrained pursuit-evasion games (MC-PEG). The Cooperative Evasion and Formation Coverage (CEFC) task, where the UAV swarm aims to maximize formation coverage across multiple target zones while collaboratively evading predators, belongs to one of the most challenging issues in MC-PEG, especially under communication-limited constraints. This multifaceted problem, which intertwines responses to obstacles, adversaries, target zones, and formation dynamics, brings up significant high-dimensional complications in locating a solution. In this paper, we propose a novel two-level framework (i.e., Consensus Inference-based Hierarchical Reinforcement Learning (CI-HRL)), which delegates target localization to a high-level policy, while adopting a low-level policy to manage obstacle avoidance, navigation, and formation. Specifically, in the high-level policy, we develop a novel multi-agent reinforcement learning module, Consensus-oriented Multi-Agent Communication (ConsMAC), to enable agents to perceive global information and establish consensus from local states by effectively aggregating neighbor messages. Meanwhile, we leverage an Alternative Training-based Multi-agent proximal policy optimization (AT-M) and policy distillation to accomplish the low-level control. The experimental results, including the high-fidelity software-in-the-loop (SITL) simulations, validate that CI-HRL provides a superior solution with enhanced swarm's collaborative evasion and task completion capabilities.