The coverage path planning algorithm can be defined as making integration the robot's footprint identical to that of the target region [Choset]. The spanning tree coverage which is one of the coverage path planning algorithm is proved to be optimal in the sense that there is no repetitive coverage [Gabriely]. But the online version of spanning tee coverage shows spiral moving pattern which can cause severe localization problems. So we propose a free moving pattern's online spanning tree coverage algorithm which can freely make any moving pattern to lessen the localization or moving pattern's problem and meet the user request
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Chang et al. (2006) studied this question.
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