Coverage via Space-filling Curves

Space-filling curves are primarily used in applications that require visiting various regions in a space. In this work, we address tracing the Hilbert’s space-filling curve in regions with obstacles. Using the self-similarity and locality preserving properties of Hilbert’s space filling curve, a set of evasive maneuvers are prescribed and characterized for online implementation. Using depth-first search over differnt resolutions of Hilbert’s space-filling curve, we propose an algorithm for non-uniform coverage of spaces with obstacles of varying sizes.

This work was done under the guidance of Prof. Arpita Sinha and Prof. Leena Vachhani, and also won the Undergraduate Research Award-01. More details can be found in our paper.