ResearchBenchmarksDispersion / Area Coverage on Dispersion Area Coverage ScenarioDispersion / Area Coverage on Dispersion Area Coverage ScenarioFollow50Initial CoverageSPIN47.548.755051.25May 25, 2026Evaluation resultsMethodMethodLinksInitial CoverageFinal CoverageMean Improvement (Δ)Trial Standard Deviation (σ)Policy EntropySpatial EntropyVoronoi VariancePath LengthSPIN2026.055045.2-0.0480.0361.4350.452705,625.535125.117APF2026.055045.2-0.0480.0410.8230.452612,027.231194.527CBBA2026.055049.4-0.0060.0120.2450.494244,542.355100.588MAPPO2026.055047.6-0.0240.0351.2930.476378,529.562111.855