Abstract
We present a framework for extending coverage algorithms from convex to nonconvex domains. We are particularly interested in coverage in the presence of obstacles, that is domains that contain holes. We identify a class of connected regions in Ropf2 than can be mapped through a diffeomorphism to an almost convex region in Ropf2 - a convex region from which a finite (possibly empty) set of points has been subtracted. The transformation allows us to solve the coverage problem using the approach of Cortes et al., and obtain the solution of the original problem through inverse transformation. We provide a formal analysis of the approach and demonstrate its effectiveness through simulations. We conclude the paper with a discussion on possible extensions of the work that we are currently undertaking.
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