We propose a classification-aware path planning architecture for a team of robots in order to traverse along the most informative paths with the objective of completing map classification tasks using localized (partial) observations from the environment. In this method, the neural network layers with parallel structure utilize each agent’s memorized history and solve the path planning problem to achieve classification. The objective is to avoid visiting less informative regions and significantly reduce the total energy cost (e.g., battery life) when solving the classification problem. Moreover, the parallel design of the path planning structure reduces the training complexity drastically. The efficacy of our approach has been validated by a map classification problem in the simulation environment of satellite campus maps using quadcopters with onboard cameras.