DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning

@article{Kapoutsis2017DARPDA,
  title={DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning},
  author={Athanasios Ch. Kapoutsis and Savvas A. Chatzichristofis and Elias B. Kosmatopoulos},
  journal={Journal of Intelligent & Robotic Systems},
  year={2017},
  volume={86},
  pages={663-680}
}
This paper deals with the path planning problem of a team of mobile robots, in order to cover an area of interest, with prior-defined obstacles. For the single robot case, also known as single robot coverage path planning (CPP), an 𝓞(n) optimal methodology has already been proposed and evaluated in the literature, where n is the grid size. The majority of existing algorithms for the multi robot case (mCPP), utilize the aforementioned algorithm. Due to the complexity, however, of the mCPP, the… CONTINUE READING
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