MSTC∗:Multi-robot Coverage Path Planning under Physical Constrain
Jingtao Tang Chun Sun Xinyu Zhang Jingtao Tang Chun Sun Xinyu Zhang
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC∗ for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage (Spiral-STC). Our algorithm incorporates strict physical constraints like terrain traversability and material load capacity. We compare our algorithm against the stat...