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.
Medium: article
Python twin: github
Optimized extension (Java): github
@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}
}
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