Two-Layer Reinforcement Learning-Assisted Joint Beamforming and Trajectory Optimization for Multi-UAV Downlink Communications

Unmanned aerial vehicles (UAVs) are pivotal for future 6G non-terrestrial networks, yet their high mobility creates a complex coupled optimization problem for beamforming and trajectory design. Existing numerical methods suffer from prohibitive latency, while standard deep learning often ignores dynamic interference topology, limiting scalability. To address these issues, this paper proposes a hierarchically decoupled framework synergizing graph neural networks (GNNs) with multi-agent reinforcement learning. Specifically, on the short timescale, we develop a topology-aware GNN beamformer by incorporating GraphNorm. By modeling the dynamic UAV-user association as a time-varying heterogeneous graph, this method explicitly extracts interference patterns to achieve sub-millisecond inference. On the long timescale, trajectory planning is modeled as a decentralized partially observable Markov decision process and solved via the multi-agent proximal policy optimization algorithm under the centralized training with decentralized execution paradigm, facilitating cooperative behaviors. Extensive simulation results demonstrate that the proposed framework significantly outperforms state-of-the-art optimization heuristics and deep learning baselines in terms of system sum rate, convergence speed, and generalization capability.