Spanning-tree based coverage of continuous areas by a mobile robot
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Coverage of Known Spaces: The Boustrophedon Cellular Decomposition
Autonomous Robots
Competitive on-line coverage of grid environments by a mobile robot
Computational Geometry: Theory and Applications
Dynamic Coverage Optimal Control for Multiple Spacecraft Interferometric Imaging
Journal of Dynamical and Control Systems
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach
Annals of Mathematics and Artificial Intelligence
Power consumption modeling of skid-steer tracked mobile robots on rigid terrain
IEEE Transactions on Robotics
How UGVs physically fail in the field
IEEE Transactions on Robotics
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Area coverage is a common task for an unmanned ground vehicle (UGV) that requires time and energy to complete. We have developed a novel cost function that can be used to optimally traverse a path that covers a region. The UGV model and cost function are developed theoretically and verified experimentally. Our cost function weights force inputs, area covered and motor efficiency to create an optimal trajectory. This trajectory is constrained to follow a coverage path described in the literature. The path is modified based on the cost function by replacing turn-in-place maneuvers by moving turns. Tradeoffs are presented for three cases: (1) drive motor efficiency is not considered, (2) the motors are most efficient at the maximum velocity, and (3) the motors are most efficient below the maximum velocity. Optimality tradeoffs include the time required to cover the region, and the energy required to complete the trajectory. Experimental results using an iRobot Packbot are presented.