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A Multi-robot Coverage Path Planning Algorithm Based on Improved DARP Algorithm

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arxiv 2304.09741 v1 pith:4LQEYVKO submitted 2023-04-19 cs.RO

Yufan Huang , Man Li , Tao Zhao This is my paper · ORCID
classification cs.RO
keywords algorithmcoveragedarpimprovedachievehighermulti-robotpath
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The research on multi-robot coverage path planning (CPP) has been attracting more and more attention. In order to achieve efficient coverage, this paper proposes an improved DARP coverage algorithm. The improved DARP algorithm based on A* algorithm is used to assign tasks to robots and then combined with STC algorithm based on Up-First algorithm to achieve full coverage of the task area. Compared with the initial DARP algorithm, this algorithm has higher efficiency and higher coverage rate.

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Cited by 1 Pith paper

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. Terrain-Aware Adaptation for Two-Dimensional UAV Path Planners

    cs.RO 2025-07 conditional novelty 4.0 of 10

    A terrain-aware wrapper for 2D multi-UAV coverage planners, demonstrated as DARP-3D, improves 3D reconstruction accuracy by adjusting waypoint altitude and camera pitch and yaw from a pre-scanned model.

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