This is implementation of Boustrophedon Decompotion algorithm. It includes separated utility library and a demo with sample usage.
- BCD/ - Boustrophedon Decomposition Algorithm Implementation
- LeoLibs/ - utility class implementing ReebGraph
- demo/ - contains and example use of BCD
- 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
- to build library and demo do ./run_all
- to install do sudo ./run install
this will compile and install LibLeo and BCD libraries
- To run demo see README in demo folder
- For full method description check README in BCD folder.
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.
Nare Karapetyan nare@email.sc.edu