Guruprasad, K.R.Ranjitha, T.D.2026-02-062015ACM International Conference Proceeding Series, 2015, Vol.02-04-July-2015, , p. -21531633https://doi.org/10.1145/2783449.2783492https://idr.nitk.ac.in/handle/123456789/32352In 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.Coverage path planningMinor nodesSpanning treeTruly-complete coverage