ResearchBenchmarksMulti-robot Coverage on Scenes Large (test)Multi-robot Coverage on Scenes Large (test)Follow74.17CoverageDA-HGNN50.000456.275262.5568.8248Jan 7, 2026Evaluation resultsMethodMethodLinksCoverageTime (step)DA-HGNNNumber of Robots=4Number of Robots=42026.0174.172,001.73UtilityNumber of Robots=4Number of Robots=42026.0171.122,264.3GreedyNumber of Robots=4Number of Robots=42026.0167.752,182.93NCMNumber of Robots=4Number of Robots=42026.0157.592,792.11VoronoiNumber of Robots=4Number of Robots=42026.0154.422,718.41CoscanNumber of Robots=4Number of Robots=42026.0150.932,835.57