Scout-Assisted Planning for Heterogeneous Robot Teams under Partially Known Environments
Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous planning framework in which scouting Unmanned Aerial Vehicles proactively gather environmental information to improve Unmanned Ground Vehicle navigation. To focus scouting on the most consequential edges, we propose Information Gain-based Action Pruning, which scores candidate scouting actions by their expected impact on ground robot behavior. Since exact Information Gain-based Action Pruning computation is prohibitively expensive, we develop a Graph N...
| Authors | Hoang-Dung Bui, Abhish Khanal, Raihan Islam Arnob et al. |
|---|---|
| Primary category | cs.RO |
| Published | 21 May 2026 |
| Last updated at source | 21 May 2026 |
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