Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

Algorithm 2

Overall operation.

	Input: metric map
	Output: coverage strategy
	Initialization
	Creating occupancy grid map;
	do
	Extract metric map of obstacle cluster;
	Algorithm 1(obstacle_cluster);
	Create occupancy grid map for obstacle cluster;
	While (! end of obstacle clusters);
	Planning navigation path and morphology;
	Reconfiguration;
	Execute coverage plan;