UGV-Conditioned Multi-UAV Informative Planning on a Shared Exposure Belief
This work proposes a framework where UAVs and a ground vehicle share an online 'exposure belief' map to improve safety. The UGV uses this belief to replan routes based on risk, while UAVs prioritize sensing in areas most relevant to the UGV's current path. This coordination significantly reduces ground exposure by 38% and cuts redundant aerial coverage.