Guruprasad, K.R.2026-02-062019ACM International Conference Proceeding Series, 2019, Vol., , p. -21531633https://doi.org/10.1145/3352593.3352662https://idr.nitk.ac.in/handle/123456789/31021In 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.Coverage path planningGrid-based planningSpanning tree