Optimal Control for Constrained Coverage Path Planning
This addresses path planning for robots in obstacle-filled environments, but appears incremental as it modifies an existing method.
The paper tackled the problem of constrained coverage path planning for robots by augmenting a linear sweep-based method to achieve minimum energy/time optimality alongside maximum area coverage, and studied the effects of varying parameters on performance, though no concrete numbers were provided.
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider augmenting the linear sweep-based coverage method to achieve minimum energy/ time optimality along with maximum area coverage. In addition, we also study the effects of variation of different parameters on the performance of the modified method.