Computational geometry: an introduction
Computational geometry: an introduction
Constructing roadmaps of semi-algebraic sets I: completeness
Artificial Intelligence - Special issue on geometric reasoning
Robot Motion Planning
Virtual disassembly of products based on geometric models
Computers in Industry
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Development of an optimal trajectory model for spray painting on a free surface
Computers and Industrial Engineering
Virtual Door-Based Coverage Path Planning for Mobile Robot
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario
Robotics and Autonomous Systems
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
O(1)-time unsorting by prefix-reversals in a boustrophedon linked list
FUN'10 Proceedings of the 5th international conference on Fun with algorithms
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
A survey on coverage path planning for robotics
Robotics and Autonomous Systems
BA*: an online complete coverage algorithm for cleaning robots
Applied Intelligence
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Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applications include de-mining, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cellular decomposition approach, for the purposes of coverage. Essentially, the boustrophedon decomposition is a generalization of the trapezoidal decomposition that could allow for non-polygonalobstacles, but also has the side effect of having more “efficient” coverage paths than the trapezoidal decomposition. Each cell in the boustrophedon decomposition is covered with simple back and forth motions. Once each cell is covered, then the entire environment is covered. Therefore, coverage is reduced to finding an exhaustive path through a graph which represents the adjacency relationships of the cells in the boustrophedon decomposition. This approach is provably complete and experiments on a mobile robot validate this approach.