SOURCE-LINKED INTELLIGENCE
A Hierarchical Coverage Path Planning Algorithm for Unknown Environments
This paper presents an online coverage path planning algorithm for unknown environments. During navigation, the initially unknown search area is progressively decomposed into disconnected subareas as new obstacle information is acquired and coverage proceeds. These subareas are organized in an incrementally constructed decomposition tree that preserves their hierarchical parent-child relationships. Based on this tree, a global coverage tour is maintained and updated online by prioritizing newly generated child subareas according to their exploration states and distances from the robot. A local
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-11T08:47:49.000Z
First collected: 2026-09-20T18:22:04.777Z. This is not the publication date.