Coverage Path Planning: The Boustrophedon Cellular Decomposition

@inproceedings{Choset1998CoveragePP,
  title={Coverage Path Planning: The Boustrophedon Cellular Decomposition},
  author={Howie Choset and Philippe Pignon},
  year={1998}
}
Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applica­ tions include vacuuming, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cel­ lular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon is covered with simple back and forth motions. Once each cell is covered, then the entire envi­ ronment is covered. Therefore… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 274 CITATIONS

Coverage Path Planning for Surveying Disjoint Areas

VIEW 12 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

Adaptive Sampling For Efficient Online Modelling

VIEW 6 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Autonomous detection and characterization of nuclear materials using co-robots

VIEW 6 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

LSwarm: Efficient Collision Avoidance for Large Swarms With Coverage Constraints in Complex Urban Scenes

VIEW 4 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Three-dimensional UAS Trajectory Optimization for Remote Sensing in an Irregular Terrain Environment

VIEW 12 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

Implementation of a Multi-Robot Coverage Algorithm on a Two-Dimensional, Grid-Based Environment

VIEW 5 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Semi-boustrophedon coverage with a dubins vehicle

VIEW 4 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

COMPUTATIONAL TOOLS FOR IMPROVING ROUTE PLANNING IN AGRICULTURAL FIELD OPERATIONS

VIEW 4 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Coverage Path Planning for Mobile Cleaning Robots

VIEW 5 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

FILTER CITATIONS BY YEAR

1998
2020

CITATION STATISTICS

  • 21 Highly Influenced Citations

  • Averaged 29 Citations per year from 2017 through 2019

  • 7% Increase in citations per year in 2019 over 2018

References

Publications referenced by this paper.
SHOWING 1-10 OF 11 REFERENCES

A terrain-covering algorithm for an AUV

VIEW 3 EXCERPTS
HIGHLY INFLUENTIAL

Cooperative sweeping by multiple mobile robots

VIEW 1 EXCERPT

First results in vision-based crop line tracking

  • Mark Ollis, Anthony Stentz
  • Engineering, Computer Science
  • Proceedings of IEEE International Conference on Robotics and Automation
  • 1996
VIEW 2 EXCERPTS

Path planning and guidance techniques for an autonomous mobile cleaning robot

VIEW 1 EXCERPT

An opportunistic global path planner

VIEW 1 EXCERPT

pages pp533{pp538

  • A. Zelinsky, R. A. Jarvis, J. C. Byrne, S. Yuta. Planning Paths of Complete Coverage of an Un Robotics
  • Tokyo Japan, November
  • 1993
VIEW 1 EXCERPT

Robot motion planning

  • Jean-Claude Latombe
  • Mathematics, Computer Science
  • The Kluwer international series in engineering and computer science
  • 1990
VIEW 1 EXCERPT