用稀疏注意力和记忆模块,让无人机选址更快更准。
GeoHopNet: Hopfield-Augmented Sparse Spatial Attention for Dynamic UAV Site Location Problem
- 引入距离感知的稀疏注意力,降低计算开销
- 1000节点问题0.1秒内解出,误差仅0.22%
- 适合大规模动态无人机站点规划场景
城市低空无人机经济快速发展,对无人机起降点与补给站的动态选址提出新挑战。传统深度强化学习方法在处理城市级大规模选址问题时,受标准注意力机制制约,计算复杂度高。本文提出GeoHopNet,一种专为动态无人机选址设计的霍普菲尔德增强稀疏空间注意力网络。核心创新包括:(1) 距离偏置多头注意力,显式编码空间几何信息;(2) K近邻稀疏注意力,将计算复杂度从$O(N^2)$降至$O(NK)$;(3) 现代霍普菲尔德外部记忆模块;(4) 记忆正则化策略。实验表明,GeoHopNet显著拓展可解问题规模。在1000节点的大规模实例中,标准注意力模型耗时超3秒且难以收敛,传统求解器失效,而GeoHopNet可在0.1秒内获得0.22%最优性间隙的高质量解。相较最先进方法ADNet在100节点实例上,提升解质量22.2%,速度加快1.8倍。
原文摘要 · Abstract (English)
The rapid development of urban low-altitude unmanned aerial vehicle (UAV) economy poses new challenges for dynamic site selection of UAV landing points and supply stations. Traditional deep reinforcement learning methods face computational complexity bottlenecks, particularly with standard attention mechanisms, when handling large-scale urban-level location problems. This paper proposes GeoHopNet, a Hopfield-augmented sparse spatial attention network specifically designed for dynamic UAV site location problems. Our approach introduces four core innovations: (1) distance-biased multi-head attention mechanism that explicitly encodes spatial geometric information; (2) K-nearest neighbor sparse attention that reduces computational complexity from $O(N^2)$ to $O(NK)$; (3) a modern Hopfield external memory module; and (4) a memory regularization strategy. Experimental results demonstrate that GeoHopNet extends the boundary of solvable problem sizes. For large-scale instances with 1,000 nodes, where standard attention models become prohibitively slow (over 3 seconds per instance) and traditional solvers fail, GeoHopNet finds high-quality solutions (0.22\% optimality gap) in under 0.1 seconds. Compared to the state-of-the-art ADNet baseline on 100-node instances, our method improves solution quality by 22.2\% and is 1.8$\times$ faster.
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