PRoID uses learned map predictions to compute each robot's expected information delivery rate and triggers relay when immediate return is better, with a failure-aware variant that biases toward earlier returns.
Occupancy antici- pation for efficient exploration and navigation,
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PRoID: Predicted Rate of Information Delivery in Multi-Robot Exploration and Relaying
PRoID uses learned map predictions to compute each robot's expected information delivery rate and triggers relay when immediate return is better, with a failure-aware variant that biases toward earlier returns.