Optimal line-sweep-based decompositions for coverage algorithms

By Wesley H. Huang. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001

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A survey on coverage path planning for robotics (2013, methodology): “[Jimenez et al., 2007] proposed to use a genetic algorithm to achieve optimal coverage.”
Energy-Aware Coverage Path Planning of UAVs (2015, background): “In the literature, a lot of work has been done to find the optimal scan direction that minimizes the number of turns [6], [12].”
Planning algorithms (2006, methodology): “A similar method, which furthermore optimizes the number of robot turns, is presented in [471].”
Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time (2015, methodology): “This may reduce the number of turns in the path, thus reducing the effects of vehicle deceleration and acceleration due to each turn [9].”
Cooperative Minimum Time Surveillance With Multiple Ground Vehicles (2010, background): “Applications where such a formulation is reasonable include vacuum cleaning and demining [14] and [15], general coverage [16]–[18], multi robot coverage [19] and”
Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey (2018, background): “Note that for some convex area P, the number of turns is minimized if the largest difference in -coordinates between a pair of points belonging to P, when measured along the chosen sweep direction −→ , is at its minimum [115, 168].”