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- W2189187562 abstract "This paper considers the problem of covering a continuous planar area by a square-shaped tool attached to a mobile robot. Uszng a tool-based approximation of the work-area, we present an al- gorithm that covers every point of the approximate area. The algorzthm, called Spanning Tree Cover- ing (STC), subdivides the work-area znto disjoint cells corresponding to the square-shaped tool, then follows a spanning tree of the graph induced by the cells, while covering every point preczsely once. We present and analyze three versions of the STC algorithm. The first version is an off-line algorithm that computes an optimal covering path in linear tame O(N), where N is the number of cells comprising the approximate area. The second version is an on-line or sensor based algorithm, that completes an optimal covering path in time O(N), but requires O(N) memory for its imple- mentation. The third version of STC is ant-like, where the robot may leave pheromone-like markers during the coverage process. The ant-like STC a1- gorithm runs in time O(N) and requires only O(1) memory. We present simulation results of the three STC algorithms, demonstrating their effectiveness an cases where the tool size is significantly smaller than the work-area characteristic dimensaon." @default.
- W2189187562 created "2016-06-24" @default.
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- W2189187562 date "2001-01-01" @default.
- W2189187562 modified "2023-09-27" @default.
- W2189187562 title "Spanning-Tree Based Cov erage of Contin uousAreas b ya Mobile Robot" @default.
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