Scout-Assisted Planning uses UAV scouts and a GNN to predict information gain for pruning actions, cutting UGV travel costs by 31.9-37.7% versus the Canadian Traveler Problem baseline in partially known environments.
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Scout-Assisted Planning for Heterogeneous Robot Teams under Partially Known Environments
Scout-Assisted Planning uses UAV scouts and a GNN to predict information gain for pruning actions, cutting UGV travel costs by 31.9-37.7% versus the Canadian Traveler Problem baseline in partially known environments.