ResearchBenchmarksMulti-robot Coverage on Scenes Small (test)Multi-robot Coverage on Scenes Small (test)Follow74.72CoverageDA-HGNN36.156846.168456.1866.1916Jan 7, 2026Evaluation resultsMethodMethodLinksCoverageTime (step)DA-HGNNNumber of Robots=4Number of Robots=42026.0174.721,852.85NCMNumber of Robots=4Number of Robots=42026.0170.231,918.04GreedyNumber of Robots=4Number of Robots=42026.0148.142,758.31UtilityNumber of Robots=4Number of Robots=42026.0146.42,868.79VoronoiNumber of Robots=4Number of Robots=42026.0138.863,198.72CoscanNumber of Robots=4Number of Robots=42026.0137.643,199.9