Formulate E-GTSP over straight segments

[rikba]

Treat every straight segment as a node in the GTSP as in

Bochkarev, Stanislav, and Stephen L. Smith. "On minimizing turns in robot coverage path planning." 2016 IEEE International Conference on Automation Science and Engineering (CASE). IEEE, 2016.

or

Lewis, Jeremy S., et al. "Semi-boustrophedon coverage with a dubins vehicle." 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.

This may be computationally more elaborate but would fix the overlapping segments at the border between cells and find even shorter coverage paths.

[AkerIII]

hello, is there any progress with this improvement?

[rikba]

No, we are not very active here at the moment.