Article

UGV-Conditioned Multi-UAV Informative Planning on a Shared Exposure Belief

Simulation results show that the method reduces cumulative UGV exposure by 38% compared with terrain-semantic replanning, and the multi-UAV coordination scheme cuts redundant aerial coverage from 38.8% to 3.7%. The method guides UGV path planning through a risk-averse shared exposure belief and uses mission-conditioned rewards to drive UAVs to focus sensing on exposure-relevant uncertain regions; UAV observations update the belief online, and the UGV uses this to route around newly discovered threats. In multi-UAV scenarios, region-conditioned spatial assignment is used to reduce redundant sensing.

Part of the event: Research on Multi-UAV Cooperative Corridor Information Planning

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