Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

Figure 5

Sample of test scenarios taken as obstacle clusters. In each case, the first figure depicts the footprint layer, the red-colored grid represents the optimum cell size generated for P-hTetro, and the grid resulting for the robot with fixed size is depicted in blue. (a) A segment of a bedroom. (b) and (c) A couch at a lobby or a living area. (d) Meeting room. (e) The seating arrangement of a waiting area.

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(b)

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(e)