Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.