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Previous studies have primarily focused on the fixed position of ground users (GUs) for a certain time interval with fixed scenes, where UAV trajectories are with fixed length. Only algorithms designed based on appropriate environmental models can be better applied to real emergency scenarios. Therefore, this paper introduces the Emergency Scenario Force Model (ESFM), a complex and dynamic environmental model, and proposes a framework that enhances the performance of multi-agent proximal policy optimization-based (MAPPO-based) reinforcement learning approaches in real-world scenarios. Furthermore, we explored different reward design methods for performance improvement. Through comparative analysis of various degrees of randomness and reward functions, we present the results of the generalization test for different networks. The results indicate that the proposed method effectively resolves communication issues in more complex and dynamic environments and demonstrates significant robustness. <\/jats:p>","DOI":"10.1142\/s0218126625501129","type":"journal-article","created":{"date-parts":[[2024,10,4]],"date-time":"2024-10-04T10:26:32Z","timestamp":1728037592000},"source":"Crossref","is-referenced-by-count":3,"title":["Enhancing UAV Communications in Disasters: Integrating ESFM and MAPPO for Superior Performance"],"prefix":"10.1142","volume":"34","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4503-8331","authenticated-orcid":false,"given":"Wen","family":"Qiu","sequence":"first","affiliation":[{"name":"Co-creative Engineering, Kitami Institute of Technology, Kitami, Hokkaido,  Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2728-5619","authenticated-orcid":false,"given":"Xun","family":"Shao","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Information Engineering, Toyohashi University of Technology, Toyohashi, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5339-9305","authenticated-orcid":false,"given":"Seng W.","family":"Loke","sequence":"additional","affiliation":[{"name":"School of Info Technology, Deakin University (Burwood Campus) Melbourne, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9813-7616","authenticated-orcid":false,"given":"Zhiqiang","family":"He","sequence":"additional","affiliation":[{"name":"Pattern Recognition and Intelligent Systems, Northeastern University, ShenYang, LiaoNing, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fayez","family":"Alqahtani","sequence":"additional","affiliation":[{"name":"Software Engineering Department, College of Computer and Information Science, King Saud University, Riyadh 12372, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0213-3571","authenticated-orcid":false,"given":"Hiroshi","family":"Masui","sequence":"additional","affiliation":[{"name":"Information Processing Center, Kitami Institute of Technology, Kitami, Hokkaido, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2024,12,10]]},"reference":[{"key":"S0218126625501129BIB001","doi-asserted-by":"publisher","DOI":"10.3390\/drones7030214"},{"key":"S0218126625501129BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2909530"},{"key":"S0218126625501129BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2023.3342102"},{"key":"S0218126625501129BIB004","doi-asserted-by":"publisher","DOI":"10.1016\/j.vehcom.2022.100568"},{"key":"S0218126625501129BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2955732"},{"key":"S0218126625501129BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/TGCN.2022.3146627"},{"key":"S0218126625501129BIB007","doi-asserted-by":"publisher","DOI":"10.3390\/s21248239"},{"key":"S0218126625501129BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/OJCOMS.2023.3251297"},{"key":"S0218126625501129BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/TGCN.2020.3005290"},{"key":"S0218126625501129BIB010","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2023.3260168"},{"key":"S0218126625501129BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TCOMM.2020.3003662"},{"key":"S0218126625501129BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/VTC2020-Fall49728.2020.9348616"},{"key":"S0218126625501129BIB013","doi-asserted-by":"publisher","DOI":"10.1007\/s12559-018-9559-8"},{"key":"S0218126625501129BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/OJVT.2020.2971594"},{"key":"S0218126625501129BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2019.2925629"},{"key":"S0218126625501129BIB016","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.51.4282"},{"key":"S0218126625501129BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/LWC.2014.2342736"},{"key":"S0218126625501129BIB019","first-page":"24611","volume":"35","author":"Yu C.","year":"2022","journal-title":"Adv. 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