1. fix auto_explore bug, 增加缓冲区-覆盖的圆形更完美

2. add scan_points list，将unvisited scan_points作为下一次scan_all_env的目标
3. optimizae auto_scan_env, 根据四个方位划分无人机最近的探索区域

template/agent_prompt.py

@@ -91,7 +91,10 @@ Tips for you to finish task in the most efficient way:
 10. Line formation means after finishing the task the two (or more) drones should move to a same position.
 Begin!
 11. Before executing a task or moving to a new position, must get the nearby entities first.
-12. The max moving distance for a single move_to or navigate_to command is 150 meters. If the distance is longer than that, find a mediam point to go first.
+12. The max moving distance for a single move_to or navigate_to command is 300 meters. If the distance is longer than that, find a mediam point to go first.
+13. When targets cannot be found, call `auto_scan_all_environment` as early as possible.
+14. When `auto_scan_all_environment` is not completed, control multiple active drones move to unvisited scan points , use `get_scan_points` to get the list of scan points categorized by visited status and current drone positions.
+15. Executing tasks implicitly performs environment perception, so avoid using the `get_nearby_entities` API as much as possible.
 
 Question: {input}
 Thought:{agent_scratchpad}"""