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MA-LIPP: Cooperative Multi-Agent Load-Aware Informative Path Planning for Heterogeneous Robot Teams

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Field robotics missions often require physical samples to be returned to laboratories for analysis, making path planning inherently load-aware and order-dependent as accumulated samples increase payload and traversal energy costs. In single-robot Load-Aware Informative Path Planning (LIPP), this rigidly couples sensing with hauling: a solitary robot must transport every collected sample, forcing frequent depot returns that severely restrict its spatial coverage. Heterogeneous multi-robot teams can overcome this bottleneck by dividing labor---enabling high-precision samplers to collect while hi

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