An Artificially Weighted Spanning Tree Coverage Algorithm for Decentralized Flying Robots

In this article, an artificially weighted spanning tree coverage (AWSTC) algorithm is proposed for the distributed path planning of multiple flying robots. To balance well the efficiency, redundancy, and robustness in the cooperative coverage problem, each robot simultaneously constructs its spanning tree, which grows toward the center of inertia of the uncovered area and keeps away from the trees of its partners. Based on this, each robot...