SOURCE-LINKED INTELLIGENCE
TRACE: Coverage Path Planning for Unknown Environments Using Hierarchical Coverage Tree
This paper presents a novel online coverage path planning (CPP) algorithm, called TRACE, for real-time coverage of unknown environments. TRACE is built upon a hierarchical coverage tree that provides a global representation of the evolving connectivity of the uncovered space. As the environment is incrementally revealed and covered, newly discovered obstacles and covered cells may fragment the remaining uncovered space into disconnected regions. TRACE recursively expands the corresponding tree nodes to explicitly represent these regions and organize them for subsequent coverage planning. Based
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-18T13:50:42.000Z
First collected: 2026-09-23T13:51:27.104Z. This is not the publication date.