# DARP

**Repository Path**: coverage-path-planning/DARP

## Basic Information

- **Project Name**: DARP
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-11-07
- **Last Updated**: 2025-11-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning

This project deals with the path planning problem of a team of mobile robots, in order to cover an area of interest, with prior-defined obstacles.

DARP algorithm divides the terrain into a number of equal areas each corresponding to a specific robot, so as to guarantee complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage.

## Example:
![Screenshot_2.png](http://kapoutsis.info/wp-content/uploads/2019/02/3227076872-Screenshot_2.png)
![Screenshot_1.png](http://kapoutsis.info/wp-content/uploads/2019/02/3406347700-Screenshot_1.png)

## Material

[Video demonstration](https://www.youtube.com/watch?v=LrGfvma41Ak)

[Full Text](http://kapoutsis.info/wp-content/uploads/2017/02/j3.pdf)

[Publisher Site](https://link.springer.com/article/10.1007%2Fs10846-016-0461-x)

Medium: [article](https://medium.com/@athanasios.kapoutsis/darp-divide-areas-algorithm-for-optimal-multi-robot-coverage-path-planning-2fed77b990a3)

Python twin: [github](https://github.com/alice-st/DARP)

Optimized extension (Java): [github](https://github.com/savvas-ap/mCPP-optimized-DARP)

## Cite as: 

```
@article{kapoutsisdarp,
  title={DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning},
  author={Kapoutsis, Athanasios Ch and Chatzichristofis, Savvas A and Kosmatopoulos, Elias B},
  journal={Journal of Intelligent \& Robotic Systems},
  pages={1--18},
  publisher={Springer}
}
```