Coverage of Known Spaces: The Boustrophedon Cellular Decomposition

By Howie Choset. Auton. Robots, 2000

509 citations recorded by the source corpus.

How researchers see this paper

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Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time (2015, methodology): “Xu et al. [12] presented an area coverage strategy that combines the ideas of the exact cell decomposition of Choset [6] with the direction of coverage optimization suitable for single ﬁxed-wing UAV operation.”
A survey on coverage path planning for robotics (2013, methodology): “For simplicity, we will describe the Morse-based boustrophedon decomposition [Choset, 2000], which happens in the plane.”
A neural network approach to complete coverage path planning (2004, background): “Choset [14] proposed a novel boustrophedon cellular decomposition approach by breaking down the workspace, which allows the robot to cover each cell like “the way of the ox.”
Trajectory Optimization using Reinforcement Learning for Map Exploration (2008, background): “Some attention has already been paid to the problem of completeness during automatic data collection, or coverage ( Choset 2000; Acar et al. 2003), especially in the sensor network and computational geometry communities.”