BSA: A Complete Coverage Algorithm

González, Enríque; Álvarez, Omar Rodríguez; Diaz, Yul; Parra, Carlos; Bustacara, César

doi:10.1109/robot.2005.1570413

Cited by 127 publications

(77 citation statements)

References 4 publications

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“…The performance of the algorithm was tested in a simulation environment using 20 "worlds" with different shape, complexity and granularity previously designed in order to test basic BSA as proposed in (Gonzalez, 2005). Each test is compared with the results in the same "world" covered by a single robot.…”

Section: Test and Resultsmentioning

confidence: 99%

“…After a revision of different approaches to coverage with robots, it is possible to conclude that such solutions are subscribed in one of two main ways to solve the problem of coverage based on the chosen movement strategy: those that choose Non-Structured trajectories (Doty & Harrison, 1993) (Pirzadeh & Snyder, 1990), where the navigation of the robots depends on the search of the best next point of view that derives in the elimination of borders of the unknown world, or, by means of probabilistic methods. The other family involves Structured trajectories (Choset & Pignon) (Zelinsky, et al, 1992) (González, et al 1996) (Gabriely & Rimon, 2002) (Gonzalez, et al, 2005), where a sweeping of simple regions is made by deterministic movements in zig-zag or spirals paths. The work proposed by Choset , presents an extension of the covering system described in previous projects, where a parallel sweeping is made by means of boustrophedic trajectories, subdividing the team and the exploration area as the obstacles are found.…”

Section: Multirobot Cooperation For Exploration/coveragementioning

confidence: 99%

“…The Backtracking Spiral Algorithm was first proposed for a single robot approach (Gonzalez, et al, 2005). This algorithm decomposed the accessible surface in regions that can be covered by structured spiral paths.…”

Section: Bsa Coverage Algorithmmentioning

confidence: 99%

“…The basic BSA algorithm introduced in (Gonzalez, et al, 2005). assures the complete coverage of non-occupied cells.…”

Section: Single Robot Bsa Algorithmmentioning

confidence: 99%

See 3 more Smart Citations

Multirobot Cooperative Model Applied to Coverage of Unknown Regions

Gerlein¹,

González²

2011

Multi-Robot Systems, Trends and Development

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Section: Test and Resultsmentioning

confidence: 99%

Section: Multirobot Cooperation For Exploration/coveragementioning

confidence: 99%

Section: Bsa Coverage Algorithmmentioning

confidence: 99%

“…The basic BSA algorithm introduced in (Gonzalez, et al, 2005). assures the complete coverage of non-occupied cells.…”

Section: Single Robot Bsa Algorithmmentioning

confidence: 99%

See 2 more Smart Citations

Multirobot Cooperative Model Applied to Coverage of Unknown Regions

Gerlein¹,

González²

2011

Multi-Robot Systems, Trends and Development

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“…An extension to the Spiral-STC is the Backtracking Spiral Algorithm (BSA) [Gonzalez et al, 2005], which is also an on-line approach intended for mobile robots. As an advantage in regard to the Spiral-STC algorithm, they proposed an extension to cover not only unoccupied cells, but also the partially occupied ones.…”

Section: Grid-based Methodsmentioning

confidence: 99%

A survey on coverage path planning for robotics

Galceran

Carreras

2013

Robotics and Autonomous Systems

1,238

602

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Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing in the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.

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Complete coverage planning with clustering method for autonomous mobile robots

Aydemir

Tekerek

GÖK

2023

Concurrency and Computation

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SummaryComplete coverage planning (CCP) is a task to cover the entire area on the map, according to the job description of the autonomous mobile robot. The most widely used method for CCP in the literature is the grid‐based coverage method. In this method, the problem is processing the partially filled cell as completely filled, which reduces the coverage performance. The ability to use the clustering method, which will be created by considering the characteristics of the environment, was determined as a research question to solve this problem. In this direction, it is aimed to use K‐means++ algorithm, which is a widely used clustering algorithm and segmentation technique. In this context, an offline K‐means++ complete coverage planning (Km++CCP) method, in which the navigable area on the map of the indoor where a mobile robot will navigate is clustered using the K‐means++ algorithm and the centroids can be used as waypoints, is proposed. To test the proposed method, 2 simulations and 36 real‐world experiments were conducted. The indoor coverage ratio of Km++CCP was calculated higher than the grid‐based method in all experiments.

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BSA: A Complete Coverage Algorithm

Cited by 127 publications

References 4 publications

Multirobot Cooperative Model Applied to Coverage of Unknown Regions

Multirobot Cooperative Model Applied to Coverage of Unknown Regions

A survey on coverage path planning for robotics

Complete coverage planning with clustering method for autonomous mobile robots

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