Conference Papers
Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506
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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 X-STC: An extended spanning tree-based coverage algorithm for mobile robots(Association for Computing Machinery, 2019) Guruprasad, K.R.In this paper, we propose a simple extension to the spanning tree based coverage (STC) algorithm for a mobile robot. The proposed extended spanning tree based coverage (X-STC) algorithm attempts to cover even the partially occupied cells, unlike the spiral-STC, the basic STC algorithm. The properties of the X-STC algorithms are discussed and illustrated with examples. We compare the coverage performance of the proposed X-STC algorithm with two existing STC based algorithms, namely spiral-STC and full-STC. The results show that the proposed algorithm substantially improves the amount of coverage compared to that with the existing STC based algorithms. © 2019 Association for Computing Machinery.