Constructing roadmaps of semi-algebraic sets I: completeness
Artificial Intelligence - Special issue on geometric reasoning
Shortest watchman routes in simple polygons
Discrete & Computational Geometry
Approximation algorithms for the geometric covering salesman problem
Discrete Applied Mathematics
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Approximation algorithms for lawn mowing and milling
Computational Geometry: Theory and Applications
Robot Motion Planning
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Coverage of Known Spaces: The Boustrophedon Cellular Decomposition
Autonomous Robots
Exploring artificial intelligence in the new millennium
Planning Algorithms
A model for terrain coverage inspired by ant's alarm pheromones
Proceedings of the 2007 ACM symposium on Applied computing
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach
Annals of Mathematics and Artificial Intelligence
Coverage path planning algorithms for agricultural field machines
Journal of Field Robotics
3-D terrain covering and map building algorithm for an AUV
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An approximate algorithm for solving the watchman route problem
RobVis'08 Proceedings of the 2nd international conference on Robot vision
Coverage path planning on three-dimensional terrain for arable farming
Journal of Field Robotics
Sensor-based coverage with extended range detectors
IEEE Transactions on Robotics
A neural network approach to complete coverage path planning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Neural Networks
Graph planning for environmental coverage
Graph planning for environmental coverage
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Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.