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October 12, 2025Open Access

An Adaptive Coverage Control Approach for Multiple Autonomous Off-road Vehicles in Dynamic Agricultural Fields

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Authors

SASajad AhmadiClemson UniversityMDMohammadreza DavoodiAllen Institute for Artificial IntelligenceJVJavad Mohammadpour VelniFluor (United States)

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Implication

Adaptive control improves path planning for unmanned ground vehicles in dynamic environments, suggesting enhanced navigation efficiency.

Key Points

  • The proposed method improves coverage in dynamic environments by enabling real-time adjustments and obstacle detection.
  • Simulation results show a reduction in traversal costs and robust path planning under dynamic obstacles and terrains.
  • Using a Voronoi-based partitioning enhances navigation efficiency and effective coverage across agricultural fields.
  • The model adapts to changing conditions through continuous edge weight updates from UAV observations.

Cite This Study

Ahmadi et al. (2025) studied this question.

synapsesocial.com/papers/68ec1be02b8fa9b2b78ad1d7https://doi.org/10.48550/arxiv.2509.06682
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Also Consider

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  1. 1Proactive Path Planning Using Centralized UAV-UGV Coordination in Semi-Structured Agricultural Environments2026 · 9 citations
  2. 2Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments2024 · 30 citations
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  5. 5An Algorithm for Planning Coverage of an Area with Obstacles with a Heterogeneous Group of Drones Using a Genetic Algorithm and Parameterized Polygon Decomposition2025 · 4 citations