An adaptive coverage path planner for multibeam bathymetry that uses prior depth maps to vary pass spacing and beam settings, achieving over 99% synthetic and 92% real-world seafloor coverage versus under 75% and 65% for standard boustrophedon paths.
Path planning for multi-usv target coverage in complex environments,
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Multi-Depth Uniform Coverage Path Planning for Unmanned Surface Vehicle Surveying
An adaptive coverage path planner for multibeam bathymetry that uses prior depth maps to vary pass spacing and beam settings, achieving over 99% synthetic and 92% real-world seafloor coverage versus under 75% and 65% for standard boustrophedon paths.