OGR-MARL: Option-Guided Residual Multi-Agent Reinforcement Learning for Heterogeneous USV Cooperative Pursuit in Constrained Port Waterways

Heterogeneous USV cooperative pursuit in constrained port waterways requires evader interception under navigation, traffic, and role constraints. This paper proposes OGR-MARL, an option-guided residual multi-agent reinforcement learning framework that is decoupled from a specific MARL algorithm. OGR...