Title: Optimal Control for Constrained Coverage Path Planning,
Abstract: The problem of constrained coverage path planning involves a robot trying to
cover maximum area of an environment under some constraints that appear as
obstacles in the map. Out of the several coverage path planning methods, we
consider augmenting the linear sweep-based coverage method to achieve minimum
energy/ time optimality along with maximum area coverage. In addition, we also
study the effects of variation of different parameters on the performance of
the modified method.