The conservation of hydrological resources involves continuously monitoring their contamination. A multi-agent system composed of autonomous surface vehicles is proposed in this paper to efficiently monitor the water quality. To achieve a safe control of the fleet, the fleet policy should be able to act based on measurements and to the the fleet state. It is proposed to use Local Gaussian Processes and Deep Reinforcement Learning to jointly obtain effective monitoring policies. Local Gaussian processes, unlike classical global Gaussian processes, can accurately model the information in a dissimilar spatial correlation which captures more accurately the water quality information. A Deep convolutional policy is proposed, that bases the decisions on the observation on the mean and variance of this model, by means of an information gain reward. Using a Double Deep Q-Learning algorithm, agents are trained to minimize the estimation error in a safe manner thanks to a Consensus-based heuristic. Simulation results indicate an improvement of up to 24% in terms of the mean absolute error with the proposed models. Also, training results with 1-3 agents indicate that our proposed approach returns 20% and 24% smaller average estimation errors for, respectively, monitoring water quality variables and monitoring algae blooms, as compared to state-of-the-art approaches

提出了一种使用多智能体系统来高效监测水质的水文资源保护方法，通过应用局部高斯过程和深度强化学习来获得有效的监测策略，并表明与现有方法相比，该方法能显著降低水质变量和藻类水华监测的平均估计误差。

水质监测中基于本地高斯过程的深度强化多智能体学习框架