PDF-(b)(c)Figure2:SnapshotsfromWebotsshowingrepartitioncoveragebyrobotsina
gorithm1Algorithmusedbyarobottoperformrepartitioncoverage
epartCoverageVoronoicellofrobotOutputRepartitionedcoverageregionforrobotperformboundarycoverageinanddeterminesetofblockedpatchescomprisi
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