About

This is implementation of Boustrophedon Decompotion algorithm. It includes separated utility library and a demo with sample usage.

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Structure:

• BCD/ - Boustrophedon Decomposition Algorithm Implementation
• LeoLibs/ - utility class implementing ReebGraph
• demo/ - contains and example use of BCD

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Required Packages

• Opencv 4.5.x
• Boost 1.65 [sudo apt-get install libboost-all-dev]
• QT 5 [https://wiki.qt.io/Install_Qt_5_on_Ubuntu] or sudo apt-get install qt5-default If Qt is not in default package then specify CMAKE_PREFIX_PATH=/path/to/where/qt5/lives

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Installation

• to build library and demo do ./run_all
• to install do sudo ./run install

this will compile and install LibLeo and BCD libraries

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Usage

• To run demo see README in demo folder
• For full method description check README in BCD folder.

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Licence

Released under the MIT License.

• When using this code please use the following citation:

Anqi Xu, Chatavut Viriyasuthee, Ioannis Rekleitis. Efficient complete coverage of a known arbitrary environment with applications to aerial operations. Autonomous Robots, 36(4):365-381, 2014. [26 citations]

• When refering to Multirobot systems refer to following work:

Nare Karapetyan, Kelly Benson, Chris McKinney, Perouz Taslakian, Ioannis Rekleitis. Efficient Multi-Robot Coverage of a Known Environment. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

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Contact

Nare Karapetyan nare@email.sc.edu