Queue-Aware Graph Reinforcement Learning for UAV-ISAC-Assisted Maritime Data Collection

Abstract

This paper studies high-altitude platform (HAP)-assisted sparse cooperative integrated sensing and communication (ISAC) for UAV-enabled ocean monitoring. A fleet of rotary-wing UAVs senses drifting buoys, collects their monitoring data, and reports local posterior estimates to a HAP that performs fusion and sparse cooperation control. The model explicitly accounts for a spatially correlated sea-patch field, patch-aware buoy dynamics, RCS- and clutter-aware echo sensing, fused posterior Cramér-Rao bounds (PCRBs), and propulsion-energy-limited UAV mobility. The long-horizon objective is cast as a queue-weighted buffered-collection Markov decision process rather than instantaneous throughput, where each buoy maintains a backlog of buffered observations. The resulting long-horizon design is formulated as a mixed discrete-continuous problem with sensing, communication, mobility, safety, buffered-collection, and onboard-energy constraints. To address the combinatorial association component without replacing learning by a deterministic optimizer, we propose a structured feasible-association graph-MARL framework. A heterogeneous graph encoder produces candidate-edge logits, and a masked sequential b-matching policy samples legal UAV-buoy associations while exactly satisfying UAV-load and buoy-cluster constraints. A MAPPO-style training procedure, an independent queue-state value critic, and a consistency-verification protocol are then specified to support reproducible training. Simulation results on congested maritime scenarios show that the proposed policy improves the cumulative queue-weighted collection utility by about 106\% over the rate-driven deterministic decoder, maintains a large margin across sea-state sweeps and medium-to-heavy traffic loads, and transfers to larger networks without fine-tuning.