Hierarchical Decision-Making Framework for Multi-UAV Task Assignment via Enhanced Pigeon-Inspired Optimization

Effective task assignment decisions are paramount for ensuring reliable task execution in multi-UAV systems.However,in the development of feasible plans,challenges stemming from extensive and prolonged task requirements are encountered.This paper establishes a decision-making framework for multiple unmanned aerial vehicles(multi-UAV)based on the well-known pigeon-inspired optimization(PIO)algorithm.By addressing the problem from a hierarchical structural perspective,the initial stage involves minimizing the global objective of the flight distance cost after obtaining the entire task distribution and task requirements,utilizing the global optimization capability of the classical PIO algorithm to allocate feasible task spaces for each UAV.In the second stage,building upon the decisions made in the preceding stage,each UAV is abstracted as an agent maximizing its own task execution benefits.An improved version of the PIO algorithm modified with a sine-cosine search mechanism is proposed,enabling the acquisition of the optimal task execution sequence.Simulation experiments involving two different scales of UAVs validate the effectiveness of the proposed methodology.Moreover,dynamic events such as UAV damage and task changes are considered in the simulation to validate the efficacy of the two-stage framework.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

Study on group air to ground attack-defends hierarchical dynamic decision-making

As to oppositional, multi-objective and hierarchical characteristic of air formation to ground attackdefends campaign, and using dynamic space state model of military campaign, this article establishes a principal and subordinate hierarchical interactive decision-making way, the Nash-Stackelberg-Nash model, to solve the problems in military operation, and find out the associated best strategy in hierarchical dynamic decision-making. The simulating result indicate that when applying the model to air formation to ground attack-defends decision-making system, it can solve the problems of two hierarchies, dynamic oppositional decision-making favorably, and reach preferable effect in battle. It proves that the model can provide an effective way for analyzing a battle,

Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

Orientation and Decision-Making for Soccer Based on Sports Analytics and AI:A Systematic Review

Due to ever-growing soccer data collection approaches and progressing artificial intelligence(AI) methods, soccer analysis, evaluation, and decision-making have received increasing interest from not only the professional sports analytics realm but also the academic AI research community. AI brings gamechanging approaches for soccer analytics where soccer has been a typical benchmark for AI research. The combination has been an emerging topic. In this paper, soccer match analytics are taken as a complete observation-orientation-decision-action(OODA) loop.In addition, as in AI frameworks such as that for reinforcement learning, interacting with a virtual environment enables an evolving model. Therefore, both soccer analytics in the real world and virtual domains are discussed. With the intersection of the OODA loop and the real-virtual domains, available soccer data, including event and tracking data, and diverse orientation and decisionmaking models for both real-world and virtual soccer matches are comprehensively reviewed. Finally, some promising directions in this interdisciplinary area are pointed out. It is claimed that paradigms for both professional sports analytics and AI research could be combined. Moreover, it is quite promising to bridge the gap between the real and virtual domains for soccer match analysis and decision-making.

Ethical Decision-Making Framework Based on Incremental ILP Considering Conflicts

Humans are experiencing the inclusion of artificial agents in their lives,such as unmanned vehicles,service robots,voice assistants,and intelligent medical care.If the artificial agents cannot align with social values or make ethical decisions,they may not meet the expectations of humans.Traditionally,an ethical decision-making framework is constructed by rule-based or statistical approaches.In this paper,we propose an ethical decision-making framework based on incremental ILP(Inductive Logic Programming),which can overcome the brittleness of rule-based approaches and little interpretability of statistical approaches.As the current incremental ILP makes it difficult to solve conflicts,we propose a novel ethical decision-making framework considering conflicts in this paper,which adopts our proposed incremental ILP system.The framework consists of two processes:the learning process and the deduction process.The first process records bottom clauses with their score functions and learns rules guided by the entailment and the score function.The second process obtains an ethical decision based on the rules.In an ethical scenario about chatbots for teenagers’mental health,we verify that our framework can learn ethical rules and make ethical decisions.Besides,we extract incremental ILP from the framework and compare it with the state-of-the-art ILP systems based on ASP(Answer Set Programming)focusing on conflict resolution.The results of comparisons show that our proposed system can generate better-quality rules than most other systems.

Stroke Risk Assessment Decision-Making Using a Machine Learning Model:Logistic-AdaBoost

Stroke is a chronic cerebrovascular disease that carries a high risk.Stroke risk assessment is of great significance in preventing,reversing and reducing the spread and the health hazards caused by stroke.Aiming to objectively predict and identify strokes,this paper proposes a new stroke risk assessment decision-making model named Logistic-AdaBoost(Logistic-AB)based on machine learning.First,the categorical boosting(CatBoost)method is used to perform feature selection for all features of stroke,and 8 main features are selected to form a new index evaluation system to predict the risk of stroke.Second,the borderline synthetic minority oversampling technique(SMOTE)algorithm is applied to transform the unbalanced stroke dataset into a balanced dataset.Finally,the stroke risk assessment decision-makingmodel Logistic-AB is constructed,and the overall prediction performance of this new model is evaluated by comparing it with ten other similar models.The comparison results show that the new model proposed in this paper performs better than the two single algorithms(logistic regression and AdaBoost)on the four indicators of recall,precision,F1 score,and accuracy,and the overall performance of the proposed model is better than that of common machine learning algorithms.The Logistic-AB model presented in this paper can more accurately predict patients’stroke risk.

Kinetic-Thermodynamic Promotion Engineering toward High-Density Hierarchical and Zn-Doping Activity-Enhancing ZnNiO@CF for High-Capacity Desalination

Despite the promising potential of transition metal oxides(TMOs)as capacitive deionization(CDI)electrodes,the actual capacity of TMOs electrodes for sodium storage is significantly lower than the theoretical capacity,posing a major obstacle.Herein,we prepared the kinetically favorable Zn_(x)Ni_(1−x)O electrode in situ growth on carbon felt(Zn_(x)Ni_(1−x)O@CF)through constraining the rate of OH^(−)generation in the hydrothermal method.Zn_(x)Ni_(1−x)O@CF exhibited a high-density hierarchical nanosheet structure with three-dimensional open pores,benefitting the ion transport/electron transfer.And tuning the moderate amount of redox-inert Zn-doping can enhance surface electroactive sites,actual activity of redox-active Ni species,and lower adsorption energy,promoting the adsorption kinetic and thermodynamic of the Zn_(0.2)Ni_(0.8)O@CF.Benefitting from the kinetic-thermodynamic facilitation mechanism,Zn_(0.2)Ni_(0.8)O@CF achieved ultrahigh desalination capacity(128.9 mgNaCl g^(-1)),ultra-low energy consumption(0.164 kW h kgNaCl^(-1)),high salt removal rate(1.21 mgNaCl g^(-1) min^(-1)),and good cyclability.The thermodynamic facilitation and Na^(+)intercalation mechanism of Zn_(0.2)Ni_(0.8)O@CF are identified by the density functional theory calculations and electrochemical quartz crystal microbalance with dissipation monitoring,respectively.This research provides new insights into controlling electrochemically favorable morphology and demonstrates that Zn-doping,which is redox-inert,is essential for enhancing the electrochemical performance of CDI electrodes.

Deep Structure Optimization for Incremental Hierarchical Fuzzy Systems Using Improved Differential Evolution Algorithm

The optimization of the rule base of a fuzzy logic system (FLS) based on evolutionary algorithm has achievednotable results. However, due to the diversity of the deep structure in the hierarchical fuzzy system (HFS) and thecorrelation of each sub fuzzy system, the uncertainty of the HFS’s deep structure increases. For the HFS, a largenumber of studies mainly use fixed structures, which cannot be selected automatically. To solve this problem, thispaper proposes a novel approach for constructing the incremental HFS. During system design, the deep structureand the rule base of the HFS are encoded separately. Subsequently, the deep structure is adaptively mutated basedon the fitness value, so as to realize the diversity of deep structures while ensuring reasonable competition amongthe structures. Finally, the differential evolution (DE) is used to optimize the deep structure of HFS and theparameters of antecedent and consequent simultaneously. The simulation results confirm the effectiveness of themodel. Specifically, the root mean square errors in the Laser dataset and Friedman dataset are 0.0395 and 0.0725,respectively with rule counts of rules is 8 and 12, respectively.When compared to alternative methods, the resultsindicate that the proposed method offers improvements in accuracy and rule counts.

Structural Engineering of Hierarchical Magnetic/Carbon Nanocomposites via In Situ Growth for High-Efficient Electromagnetic Wave Absorption

Materials exhibiting high-performance electromagnetic wave absorption have garnered considerable scientific and technological attention,yet encounter significant challenges.Developing new materials and innovative structural design concepts is crucial for expanding the application field of electromagnetic wave absorption.Particularly,hierarchical structure engineering has emerged as a promising approach to enhance the physical and chemical properties of materials,providing immense potential for creating versatile electromagnetic wave absorption materials.Herein,an exceptional multi-dimensional hierarchical structure was meticulously devised,unleashing the full microwave attenuation capabilities through in situ growth,selfreduction,and multi-heterogeneous interface integration.The hierarchical structure features a three-dimensional carbon framework,where magnetic nanoparticles grow in situ on the carbon skeleton,creating a necklace-like structure.Furthermore,magnetic nanosheets assemble within this framework.Enhanced impedance matching was achieved by precisely adjusting component proportions,and intelligent integration of diverse interfaces bolstered dielectric polarization.The obtain Fe_(3)O_(4)-Fe nanoparticles/carbon nanofibers/Al-Fe_(3)O_(4)-Fe nanosheets composites demonstrated outstanding performance with a minimum reflection loss(RLmin)value of−59.3 dB and an effective absorption bandwidth(RL≤−10 dB)extending up to 5.6 GHz at 2.2 mm.These notable accomplishments offer fresh insights into the precision design of high-efficient electromagnetic wave absorption materials.

Verifying hierarchical network nonlocality in general quantum networks

Recently, a class of innovative notions on quantum network nonlocality(QNN), called full quantum network nonlocality(FQNN), have been proposed in Phys. Rev. Lett. 128 010403(2022). As the generalization of full network nonlocality(FNN), l-level quantum network nonlocality(l-QNN) was defined in arxiv. 2306.15717 quant-ph(2024). FQNN is a NN that can be generated only from a network with all sources being non-classical. This is beyond the existing standard network nonlocality, which may be generated from a network with only a non-classical source. One of the challenging tasks is to establish corresponding Bell-like inequalities to demonstrate the FQNN or l-QNN. Up to now, the inequality criteria for FQNN and l-QNN have only been established for star and chain networks. In this paper, we devote ourselves to establishing Bell-like inequalities for networks with more complex structures. Note that star and chain networks are special kinds of tree-shaped networks. We first establish the Bell-like inequalities for verifying l-QNN in k-forked tree-shaped networks. Such results generalize the existing inequalities for star and chain networks. Furthermore, we find the Bell-like inequality criteria for l-QNN for general acyclic and cyclic networks. Finally, we discuss the demonstration of l-QNN in the well-known butterfly networks.

Facile synthesis of hierarchical NaX zeolite from natural kaolinite for efficient Knoevenagel condensation

Zeolite catalysts have found extensive applications in the synthesis of various fine chemicals.However,the micropores of zeolites impose diffusion limitations on bulky molecules,greatly reducing the catalytic efficiency.Herein,we explore an economic and environmentally friendly method for synthesizing hierarchical NaX zeolite that exhibits improved catalytic performance in the Knoevenagel condensation reaction for producing the useful fine chemical 2-cyano-3-phenylacrylate.The synthesis was achieved via a low-temperature activation of kaolinite and subsequent in-situ transformation strategy without any template or seed.Systematic characterizations reveal that the synthesized NaX zeolite has both intercrystalline and intra-crystalline mesopores,smaller crystal size,and larger external specific surface area compared to commercial NaX zeolite.Detailed mechanism investigations show that the inter-crystalline mesopores are generated by stacking smaller crystals formed from in-situ crystallization of the depolymerized kaolinite,and the intra-crystalline mesopores are inherited from the pores in the depolymerized kaolinite.This synthesis strategy provides an energy-saving and effective way to construct hierarchical zeolites,which may gain wide applications in fine chemical manufacturing.

Universal architecture and defect engineering dual strategy for hierarchical antimony phosphate composite toward fast and durable sodium storage

Antimony(Sb)-ba sed anode materials are feasible candidates for sodium-ion batteries(SIBs) due to their high theoretical specific capacity and excellent electrical conductivity.However,they still suffer from volume distortion,structural collapse,and ionic conduction interruption upon cycling.Herein,a hierarchical array-like nanofiber structure was designed to address these limitations by combining architecture engineering and anion tuning strategy,in which SbPO_(4-x) with oxygen vacancy nanosheet arrays are anchored on the surface of interwoven carbon nanofibers(SbPO_(4-x)@CNFs).In particular,bulky PO_(4)^(3-) anions mitigate the large volume distortion and generate Na_(3)PO_(4) with high ionic conductivity,collectively improving cyclic stability and ionic transport efficiency.The abundant oxygen vacancies substantially boost the intrinsic electronic conductivity of SbPO_4,further accelerating the reaction dynamics.In addition,hierarchical fibrous structures provide abundant active sites,construct efficient conducting networks,and enhance the electron/ion transport capacity.Benefiting from the advanced structural design,the SbPO_(4-x)@CNFs electrodes exhibit outstanding cycling stability(1000 cycles at 1.0 A g^(-1) with capacity decay of 0.05% per cycle) and rapid sodium storage performance(293.8 mA h g^(-1) at 5.0 A g^(-1)).Importantly,systematic in-/ex-situ techniques have revealed the "multi-step conversion-alloying" reaction process and the "battery-capacitor dual-mode" sodium-storage mechanism.This work provides valuable insights into the design of anode materials for advanced SIBs with elevated stability and superior rate performance.

The Spherical q-Linear Diophantine Fuzzy Multiple-Criteria Group Decision-Making Based on Differential Measure

Spherical q-linearDiophantine fuzzy sets(Sq-LDFSs)provedmore effective for handling uncertainty and vagueness in multi-criteria decision-making(MADM).It does not only cover the data in two variable parameters but is also beneficial for three parametric data.By Pythagorean fuzzy sets,the difference is calculated only between two parameters(membership and non-membership).According to human thoughts,fuzzy data can be found in three parameters(membership uncertainty,and non-membership).So,to make a compromise decision,comparing Sq-LDFSs is essential.Existing measures of different fuzzy sets do,however,can have several flaws that can lead to counterintuitive results.For instance,they treat any increase or decrease in the membership degree as the same as the non-membership degree because the uncertainty does not change,even though each parameter has a different implication.In the Sq-LDFSs comparison,this research develops the differentialmeasure(DFM).Themain goal of the DFM is to cover the unfair arguments that come from treating different types of FSs opposing criteria equally.Due to their relative positions in the attribute space and the similarity of their membership and non-membership degrees,two Sq-LDFSs formthis preference connectionwhen the uncertainty remains same in both sets.According to the degree of superiority or inferiority,two Sq-LDFSs are shown as identical,equivalent,superior,or inferior over one another.The suggested DFM’s fundamental characteristics are provided.Based on the newly developed DFM,a unique approach tomultiple criterion group decision-making is offered.Our suggestedmethod verifies the novel way of calculating the expert weights for Sq-LDFSS as in PFSs.Our proposed technique in three parameters is applied to evaluate solid-state drives and choose the optimum photovoltaic cell in two applications by taking uncertainty parameter zero.The method’s applicability and validity shown by the findings are contrasted with those obtained using various other existing approaches.To assess its stability and usefulness,a sensitivity analysis is done.

Kinetic-boosted CO_(2) electroreduction to formate via synergistic electric-thermal field on hierarchical bismuth with amorphous layer

Electrocatalytic converting CO_(2) into chemical products has emerged as a promising approach to achieving carbon neutrality.Herein,we report a bismuth-based catalyst with high curvature terminal and amorphous layer which fabricated via two-step electrodeposition achieves stable formate output in a wide voltage window of 600 mV.The Faraday efficiency(FE) of formate reached up to 99.4% at-0.8 V vs.RHE and it remained constant for more than 92 h at-15 mA cm^(-2).More intriguingly,FE formate of95.4% can be realized at a current density of industrial grade(-667.7 mA cm^(-2)) in flow cell.The special structure promoted CO_(2) adsorption and reduced its activation energy and enhanced the electric-thermal field and K^(+) enrichment which accelerated the reaction kinetics.In situ spectroscopy and theoretical calculation further confirmed that the introduction of amorphous structure is beneficial to adsorpting CO_(2)and stabling*OCHO intermediate.This work provides special insights to fabricate efficient electrocatalysts by means of structural and crystal engineering and makes efforts to realize the industrialization of bismuth-based catalysts.

A hierarchical salt-rejection strategy for sustainable and high-efficiency solar-driven desalination

Solar steam generation(SSG)is widely regarded as one of the most sustainable technologies for seawater desalination.However,salt fouling severely compromises the evaporation performance and lifetime of evaporators,limiting their practical applications.Herein,we propose a hierarchical salt-rejection(HSR)strategy to prevent salt precipitation during long-term evaporation while maintaining a rapid evaporation rate,even in high-salinity brine.The salt diffusion process is segmented into three steps—insulation,branching diffusion,and arterial transport—that significantly enhance the salt-resistance properties of the evaporator.Moreover,the HSR strategy overcomes the tradeoff between salt resistance and evaporation rate.Consequently,a high evaporation rate of 2.84 kg m^(-2) h^(-1),stable evaporation for 7 days cyclic tests in 20 wt%NaCl solution,and continuous operation for 170 h in natural seawater under 1 sun illumination were achieved.Compared with control evaporators,the HSR evaporator exhibited a>54%enhancement in total water evaporation mass during 24 h continuous evaporation in 20 wt%salt water.Furthermore,a water collection device equipped with the HSR evaporator realized a high water purification rate(1.1 kg m^(-2) h^(-1)),highlighting its potential for agricultural applications.

Integrated adsorption and photocatalytic removal of methylene blue dye from aqueous solution by hierarchical Nb_(2)O_(5)@PAN/PVDF/ANO composite nanofibers

This work presents the development of hierarchical niobium pentoxide(Nb_(2)O_(5))-based composite nanofiber membranes for integrated adsorption and photocatalytic degradation of methylene blue(MB)pollutants from aqueous solutions.The Nb_(2)O_(5) nanorods were vertically grown using a hydrothermal process on a base electrospun nanofibrous membrane made of polyacrylonitrile/polyvinylidene fluoride/ammonium niobate(V)oxalate hydrate(Nb_(2)O_(5)@PAN/PVDF/ANO).They were characterized using field-emission scanning electron microscopy(FE-SEM),X-ray diffraction(XRD)analysis,and Fourier transform infrared(FTIR)spectroscopy.These composite nanofibers possessed a narrow optical bandgap energy of 3.31 eV and demonstrated an MB degradation efficiency of 96%after 480 min contact time.The pseudo-first-order kinetic study was also conducted,in which Nb_(2)O_(5)@PAN/PVDF/ANO nanofibers have kinetic constant values of 1.29×10^(-2) min^(-1) and 0.30×10^(-2) min^(-1) for adsorption and photocatalytic degradation of MB aqueous solutions,respectively.These values are 17.7 and 7.8 times greater than those of PAN/PVDF/ANO nanofibers without Nb_(2)O_(5) nanostructures.Besides their outstanding photocatalytic performance,the developed membrane materials exhibit advantageous characteristics in recycling,which subsequently widen their practical use in environmental remediation applications.

Nano-Au-decorated hierarchical porous cobalt sulfide derived from ZIF-67 toward optimized oxygen evolution catalysis:Important roles of microstructures and electronic modulation

Enhancing both the number of active sites available and the intrinsic activity of Co-based electrocatalysts simultaneously is a desirable goal.Herein,a ZIF-67-derived hierarchical porous cobalt sulfide decorated by Au nanoparticles(NPs)(denoted as HP-Au@CoxSy@ZIF-67)hybrid is synthesized by low-temperature sulfuration treatment.The well-defined macroporous-mesoporous-microporous structure is obtained based on the combination of polystyrene spheres,as-formed CoxSy nanosheets,and ZIF-67 frameworks.This novel three-dimensional hierarchical structure significantly enlarges the three-phase interfaces,accelerating the mass transfer and exposing the active centers for oxygen evolution reaction.The electronic structure of Co is modulated by Au through charge transfer,and a series of experiments,together with theoretical analysis,is performed to ascertain the electronic modulation of Co by Au.Meanwhile,HP-Au@CoxSy@ZIF-67 catalysts with different amounts of Au were synthesized,wherein Au and NaBH4 reductant result in an interesting“competition effect”to regulate the relative ratio of Co^(2+)/Co^(3+),and moderate Au assists the electrochemical performance to reach the highest value.Consequently,the optimized HP-Au@CoxSy@ZIF-67 exhibits a low overpotential of 340 mV at 10 mA cm^(-2)and a Tafel slope of 42 mV dec-1 for OER in 0.1 M aqueous KOH,enabling efficient water splitting and Zn-air battery performance.The work here highlights the pivotal roles of both microstructural and electronic modulation in enhancing electrocatalytic activity and presents a feasible strategy for designing and optimizing advanced electrocatalysts.

A NovelMethod for Determining Tourism Carrying Capacity in a Decision-Making Context Using q−Rung Orthopair Fuzzy Hypersoft Environment

Tourism is a popular activity that allows individuals to escape their daily routines and explore new destinations for various reasons,including leisure,pleasure,or business.A recent study has proposed a unique mathematical concept called a q−Rung orthopair fuzzy hypersoft set(q−ROFHS)to enhance the formal representation of human thought processes and evaluate tourism carrying capacity.This approach can capture the imprecision and ambiguity often present in human perception.With the advanced mathematical tools in this field,the study has also incorporated the Einstein aggregation operator and score function into the q−ROFHS values to supportmultiattribute decision-making algorithms.By implementing this technique,effective plans can be developed for social and economic development while avoiding detrimental effects such as overcrowding or environmental damage caused by tourism.A case study of selected tourism carrying capacity will demonstrate the proposed methodology.

UAV maneuvering decision-making algorithm based on deep reinforcement learning under the guidance of expert experience

Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.