Before revision:  We propose a multi-agent reinforcement learning (MARL) approach that, in contrast to previous work, can adapt to profound changes in the scenario parameters defining the data harvesting mission, such as the number of deployed UAVs, number and position of IoT devices, or the maximum flying time, without the need to perform expensive recomputations or relearn control policies.
After revision:  We propose a multi-agent reinforcement learning (MARL) approach that, in contrast to previous work, can adapt to profound changes in the scenario parameters defining the data harvesting mission, such as the number of deployed UAVs, number , position and data amount of IoT devices, or the maximum flying time, without the need to perform expensive recomputations or relearn control policies.