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Sunderland Repository records the research produced by the University of Sunderland including practice-based research and theses.

A survey on multi-robot coverage path planning for model reconstruction and mapping

Almadhoun, Randa, Taha, Tarek, Seneviratne, Lakmal and Zweiri, Yahya (2019) A survey on multi-robot coverage path planning for model reconstruction and mapping. SN Applied Sciences, 1 (8). ISSN 2523-3963

Item Type: Article


There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives.

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Depositing User: Randa Almadhoun


Item ID: 16459
Identification Number:
ISSN: 2523-3963
Official URL:

Users with ORCIDS

ORCID for Randa Almadhoun: ORCID iD
ORCID for Tarek Taha: ORCID iD
ORCID for Lakmal Seneviratne: ORCID iD
ORCID for Yahya Zweiri: ORCID iD

Catalogue record

Date Deposited: 20 Nov 2023 10:33
Last Modified: 20 Nov 2023 10:33


Author: Randa Almadhoun ORCID iD
Author: Tarek Taha ORCID iD
Author: Lakmal Seneviratne ORCID iD
Author: Yahya Zweiri ORCID iD

University Divisions

Faculty of Technology


Computing > Artificial Intelligence

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