An optimal O(n) algorithm for single-robot Coverage Path Planning (CPP), implemented in Julia.
- Benchmarks - Performance benchmarks of the methods in this package.
- Demo - Demonstrates the features of this package.
Clicking on one of the animations below should open its MP4 version (hosted on Gfycat).
 map1 |
 map2 |
 map3 |
 empty5x5 |
 map1 |
 map2 |
 map3 |
 darp |
 tunnel |
 test |
 pillars |
- DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning
- Enric Galceran, Marc Carreras. A survey on coverage path planning for robotics. Robotics and Autonomous Systems, 2013.
- Athanasios Kapoutsis, Savvas Chatzichristofis, Elias Kosmatopoulos. DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning. Journal of Intelligent & Robotic Systems, 2017.
- Yoav Gabriely, Elon Rimon. Spanning-tree based coverage of continuous areas by a mobile robot. Annals of Mathematics and Artificial Intelligence, 2001.