Coverage Algorithm for Covering Maximal Area within Deadline

Most coverage algorithms for intelligent robots so far have concentrated on improving performance in terms of time, assuming that there are enough resources for total coverage completion. However, when resources are not sufficient, e.g. time or power, then the optimal solution may differ. In this paper, we propose a practical coverage algorithm called Deadline-Coverage, that covers the maximal area within the deadline. The Deadline-Coverage algorithm decides the navigation flow based on the greedy Set-Cover algorithm. Experimental results show that the Deadline-Coverage algorithm performs better than other algorithms for various deadlines.