On minimizing turns in robot coverage path planning
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
In this paper we study sweep coverage path planning, in which a robot must cover all points in a workspace with its footprint. In many coverage applications, including cleaning and monitoring, it is beneficial to use coverage paths with minimal robot turns. To address this, we provide an efficient method to compute the minimum altitude of a non-convex polygonal region, which captures the number of parallel line segments, and thus turns, needed to cover the region. Then, given a non-convex polygon, we provide a method to cut the polygon into two pieces that minimizes the sum of their altitudes. Given an initial convex decomposition of a workspace, we apply this method to iteratively re-optimize and delete cuts of the decomposition. Finally, we compute a coverage path of the workspace by placing parallel line segments in each region, and then computing a tour of the segments of minimum cost. We present simulation results on several workspaces with obstacles, which demonstrate improvements in both the number of turns in the final coverage path and runtime.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it