Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimal Partitioning of Non-Convex Environments for Minimum Turn
  Coverage Planning   In this paper, we tackle the problem of planning an optimal coverage path for
a robot operating in an indoor environment. Many existing approaches attempt to
discourage turns in the path by covering the environment along the least number
of coverage lines, i.e., straight-line paths. This is because turning not only
slows down the robot but also negatively affects the quality of coverage, e.g.,
tools like cameras and cleaning attachments commonly have poor performance
around turns. The problem of minimizing coverage lines however is typically
solved using heuristics that do not guarantee optimality. In this work, we
propose a turn-minimizing coverage planning method that computes the optimal
number of axis-parallel (horizontal/vertical) coverage lines for the
environment in polynomial time. We do this by formulating a linear program (LP)
that optimally partitions the environment into axis-parallel ranks
(non-intersecting rectangles of width equal to the tool width). We then
generate coverage paths for a set of real-world indoor environments and compare
the results with state-of-the-art coverage approaches.

17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
36
The categories of this paper are: cmp-lg
31
The categories of this paper are: ao-sci
37
The categories of this paper are: supr-con
3
The categories of this paper are: physics
26
The categories of this paper are: bayes-an
0
The categories of this paper are: hep-ph
12
The categories of this paper are: nucl-th
35
The categories of this paper are: mtrl-th
33
The categories of this paper are: plasm-ph
11
The categories of this paper are: hep-lat
18
The categories of this paper are: econ
21
The categories of this paper are: adap-org