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

Jiayang Mao, Lanfeng Wang, Zhao-Han Peng

Heterogeneous USV cooperative pursuit in constrained port waterways requires evader interception under navigation, traffic, and role constraints. This paper proposes OGR-MARL, an o…