Table 2.
Performance metrics for RMAL-Based Multi-UAV system.
| Metric | Value/Observation | Description |
|---|---|---|
Disk Radius 
|
600 m | The radius of the area where ground users are randomly distributed. |
Number of Users 
|
80 | Total number of ground users uniformly dispersed across the disk |
UAV 
|
80 m | Altitude at which UAVs are operating. |
Noise Power 
|
−70 dBm | Assumed noise power in the simulation. |
Sub-Channel Bandwidth ( ) |
65 kHz | Bandwidth allocated to each sub-channel. |
Time Slot Duration ( ) |
0.1 s | Duration of each time slot in the simulation. |
Carrier Frequency ( ) |
2 GHz | Frequency used in the simulation. |
Maximum UAV Power ( ) |
23 dBm | Maximum power output per UAV in the simulation. |
Power Levels ( ) |
3 | Number of discrete power levels for UAVs. |
Minimum SINR ( ) |
3 dB | Required minimum SINR for maintaining communication quality. |
Average Reward ( ) |
Increase unit t = 2 250 time slots | Reflects the ability of the RMAL algorithm to maximize long-term rewards before UAVs leave the disk. |
Immediate Reward ( ) |
Increase with iterations; plateaus after  time slot |
Represents the instantaneous rewards received per time slot. |
| Efficiency Plateau | Observed at  seconds |
Rewards stop increasing as UAVs exit the operational area. |
| Execution Time Efficiency | RMAL shows consistent reward improvement over < 250 time slots | Efficient in achieving rewards quickly due to adaptive Q-learning updates. |