DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning

This project deals with the path planning problem of a team of mobile robots, in order to cover an area of interest, with prior-defined obstacles.

DARP algorithm divides the terrain into a number of equal areas each corresponding to a specific robot, so as to guarantee complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage.

Example:

Material

Video demonstration

Full Text

Publisher Site

Medium: article

Python twin: github

Optimized extension (Java): github

Cite as:

@article{kapoutsisdarp,
  title={DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning},
  author={Kapoutsis, Athanasios Ch and Chatzichristofis, Savvas A and Kosmatopoulos, Elias B},
  journal={Journal of Intelligent \& Robotic Systems},
  pages={1--18},
  publisher={Springer}
}