Task Description:

Sensor-based coverage uses sensor information to determine a path that passes a detector or some effector over all points in an unknown space. This work identifies geometrical and topological features of a provably complete coverage algorithm to reject ``bad'' sensor readings in unstructured environments without performing complicated sensor-data processing. We use these features to overcome failures due to bad sensor data.

Figure 1: Using types of critical point to reject bad sensor data.

Figure 2: Non-generic configuration critical point on a slice.

Figure 3: Using relative positions of the phases of the algorithm to reject bad sensor data.

Exact Cellular Decomposition
Constrained Controlled Coverage
Auto-Body Painting