A survey on coverage path planning for robotics <s> Multi-robot Coverage <s> In the world of living creatures, simple-minded animals often cooperate to achieve common goals with amazing performance. One can consider this idea in the context of robotics, and suggest models for programming goal-oriented behavior into the members of a group of simple robots lacking global supervision. This can be done by controlling the local interactions between the robot agents, to have them jointly carry out a given mission. As a test case we analyze the problem of many simple robots cooperating to clean the dirty floor of a non-convex region in Z2, using the dirt on the floor as the main means of inter-robot communication. <s> BIB001 </s> A survey on coverage path planning for robotics <s> Multi-robot Coverage <s> This paper presents algorithmic solutions for the complete coverage path planning problem using a team of mobile robots. Multiple robots decrease the time to complete the coverage, but maximal efficiency is only achieved if the number of regions covered multiple times is minimized. A set of multi-robot coverage algorithms is presented that minimize repeat coverage. The algorithms use the same planar cell-based decomposition as the Boustrophedon single robot coverage algorithm, but provide extensions to handle how robots cover a single cell, and how robots are allocated among cells. Specifically, for the coverage task our choice of multi-robot policy strongly depends on the type of communication that exists between the robots. When the robots operate under the line-of-sight communication restriction, keeping them as a team helps to minimize repeat coverage. When communication between the robots is available without any restrictions, the robots are initially distributed through space, and each one is allocated a virtually-bounded area to cover. A greedy auction mechanism is used for task/cell allocation among the robots. Experimental results from different simulated and real environments that illustrate our approach for different communication conditions are presented. <s> BIB002
Boustrophedonbased BIB002 On-line Polygonal and differentiable boundaries (nonrectilinear) Extension of Morse decomposition to multi-robot teams. Contact sensorbased  On-line Rectilinear Extension of CC R using a decoupled high-level coordinator. Spiral-STC-based  Off-line Grid-discretized Extension of Spiral-STC to multirobot teams. Spiral-STC-based On-line Grid-discretized On-line extension of Spiral-STC to multi-robot teams. Neural-networkbased  On-line Grid-discretized Robots see each other as moving obstacles. Boundary coverage  Off-line 2D Focused on coverage of obstacle boundaries. Bio-inspired BIB001 and others On-line 2D Validated in simulation, but of limited practical application. Aerial  and others Off-line Aerial (obstaclefree) Account for limited maneuverability and for load balancing in heterogeneous teams. Table 1 : Survey summary