Supplementary Materials for "Hierarchical Graph-Attention Multi-Agent Reinforcement Learning for Safe-Separation-and-Collision-Avoidance Coordination of Heterogeneous UAV Swarms" (Manuscript ID: drones-4349164)

This supplementary material corresponds to the manuscript Hierarchical Graph-Attention Multi-Agent Reinforcement Learning for Safe-Separation-and-Collision-Avoidance Coordination of Heterogeneous UAV Swarms (Manuscript ID: drones-4349164). The compressed file provides the full simulation source code of the hierarchical graph-attention multi-agent reinforcement learning method, standardized experimental datasets, plotting scripts, environment setup documents, and indoor PX4-Vicon real-flight trajectory logs. All code can reproduce all heterogeneous UAV swarm safe coordination simulation results presented in the paper. Internal tactical labels in code are only for program operation, and the safety coordination definitions in the manuscript take precedence. This package is supplied for peer review and academic reproducibility.