Conference Papers
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Item ST-CTC: A spanning tree-based competitive and truly complete coverage algorithm for mobile robots(Association for Computing Machinery acmhelp@acm.org, 2015) Guruprasad, K.R.; Ranjitha, T.D.In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. While in most coverage algorithms using approximate cellular decomposition, only a resolution-complete coverage is achievable, the proposed algorithm achieves complete coverage in true sense by covering even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is implemented at graph level in Matlab. Further, the performance of the proposed algorithm is compared with that of STC and Competitive-STC, two representative approximate cellular decomposition based coverage algorithms reported in the literature. © 2015 ACM.Item Pseudo spanning tree-based complete and competitive robot coverage using virtual nodes(Elsevier B.V., 2016) Ranjitha, T.D.; Guruprasad, K.R.In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. The algorithm uses spanning tree on adjacency graph formed by the decomposed cells. We introduce a concept of a virtual node corresponding to a partially occupied cell, leading to a pseudo spanning tree. Unlike the existing approximate cellular decomposition based coverage algorithms reported in the literature, the proposed algorithm ensures complete coverage of even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is illustrated using examples comparing its coverage performance with that of the STC and Competitive-STC algorithms, two spanning tree based coverage algorithms using approximate cellular decomposition reported in the literature. © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.