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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/m7l9vlph4aqs5kq2nlbl1xduq
- Original: https://arxiv.org/abs/2606.12306

## Summary

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.