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HEROIC: Heterogeneous Evidential Reasoning for Open-Vocabulary Identification and Cross-Robot Collaboration

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Multi-agent heterogeneous air-ground robot teams are attractive for open world search, with applications for reconnaissance, urban search and rescue missions (USAR), disaster response and recovery, and hazardous environments. These two platforms have different failure modes: aerial robots cover ground quickly but cannot resolve small or occluded targets from altitude, while ground robots can identify objects-of-interest, such as people or hazardous objects, at close range but cover less area. Existing language-tasked teams either have roles fixed prior, or have a language model assign them fro

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