Optimal Line-sweep-based Decompositions for Coverage Algorithms

  title={Optimal Line-sweep-based Decompositions for Coverage Algorithms},
  author={Wesley H. Huang},
Robotic coverage is the problem of moving a sensor or actuator over all points in a given region. Ultimately, we want a coverage path that minimizes some cost such as time. We take the approach of decomposing the coverage region into subregions, selecting a sequence of those subregions, and then generating a path that covers each subregion in turn. In this paper, we focus on generating decompositions based upon the planar line sweep. After a general overview of the coverage problem, we describe… CONTINUE READING
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