This paper presents a novel approach to deal with the online complete coverage problem for a team of robots in unknown environments. In our approach each robot covers an unvisited region using a single boustrophedon motion until a robot reaches an ending point, which is surrounded by covered positions or obstacles. At the ending point the robot detects backtracking points based on the accumulated knowledge, plans the shortest backtracking path to the next starting point based on the proposed Theta* with multi…
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