Indoor Coverage Path Planning: Survey, Implementation, Analysis
概況：講的是覆蓋路徑規划（CPP）算法，本文中介紹了六種算法，並進行了深入的比較，在550多個室內地圖中做了實驗。
一、介紹
本文是基於6\8論文的補充。
本文提供了廣泛的覆蓋路徑規划方法，包括一種精確的單元分解方法、基於三單元網格的規划方法、一種輪廓線驅動方法和一種藝術畫廊問題的變體。（不知道准不准確，英文是one exact cell decomposition method, three cell grid-based planners, one contour line-driven approach and one variant of the art gallery problem）
區分了在線算法（基於傳感器的覆蓋算法）和離線算法，本文的工作集中在離線算法上，這些算法可以利用環境的現成的地圖。
二、相關的工作
總結討論了6\8論文以及其他比較常見的算法：
經典的網格划分方法（論文10-12）：依賴於多邊形形狀和障礙物。解決這一問題的方法：Morse-based網格划分方法（論文13）。
Landmark-based網格划分方法（論文14）：適用於多種拓撲結構。
Boustrophedon網格划分方法（論文11\15）
旋轉掃描單元格的Boustrophedon網格划分方法（論文16）
Wavefront 算法（論文17）：定義了起點和目標點，接近目標前將這撥錢
Spanning Tree算法（論文18）：將自由空間分割為巨型的單元，在每個巨型單元下有四個小單元，可以利用搜索樹來覆蓋這些單元。
Neural Network-based算法（論文19）：受生物學啟發，將網格視作神經元，通過相鄰網格的激活狀態訪問網格。
全覆蓋問題被視作Art Gallery Problem（論文20）或者Watchman Tour Problem 。
在組合整數線性規划方法的基礎上，利用重加權凸松弛擴大可處理規模的一種新方法（論文9）
從中挑選6種全覆蓋路徑算法進行評價。
三、方法
1、預處理
（1）地圖分割。看作Traveling Salesman Problem，這篇論文的作者此前寫過一篇相關論文7 。
（2）房間方向規范化。牆壁對准的啟發式算法（論文6\12\16）、Canny邊緣檢測算法、CV的Hough直線檢測算法（論文22）
（3）覆蓋區域： skeleton or Voronoi graph 論文23\24。網格最多為l=√2·rq 。
2、 Boustrophedon Coverage Path Planning 論文11\15 。水平掃描，到達臨界點時執行合並或者分割。
3、Grid-based Traveling Salesman Coverage Path Planning 。基於旅行商TSP問題。與Concorde solver完全一致（論文25），或與遺傳算法或簡單而快速的最近鄰類似。
4、Neural Network-based Coverage Path Planning 。基於神經網絡的全覆蓋算法。結合生物學的神經元連接8個鄰居，排斥牆壁和障礙物。論文19
5、Grid-based Local Energy Minimization。局部能量最小驅動。 論文5
6、Contour Line-based Coverage Path Planning。等高線法。論文7\26
7、Convex Sensor Placement Coverage Path Planning。凸傳感覆蓋算法。論文9
四、評估
1、覆蓋率 96-99%
2、傳感器視野
3、實測結果
【延伸論文】
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