Appendix 1 Goal generation for executor training

The pseudo goal generation is introduced for training the executor without coordinator. The scripted policy is allowed to access the grounded state, e.g. the absolute position Note that it is not the optimal policy for the executor, it will fail when two targets are far. The notations used here are defined as follows. The objective is to maximize the number of covered targets. After formulation, we can solve the target coverage problem as an ILP problem with CBC optimizer. Then, the primitive actions for all the sensors can be derived from the results of ILP shown as Tab. 1.