In this paper, we proposed an improved algorithm for the multi-robot complete coverage problem. Real world applications such as lawn mowing, chemical spill clean-up, and humanitarian de-mining can be automated by the employment of a team of autonomous mobile robots. Our approach builds on a single robot coverage algorithm, Boustrophedon decomposition. The robots are initially distributed through space and each robot is allocated a virtually bounded area to cover. The area is decomposed into cells where each cell width is fixed. The decomposed area is represented using an adjacency graph, which is incrementally constructed and shared among all the robots. Communication between the robots is available without any restrictions. Experiments on both simulated and physical hardware demonstrated the viability of employing the algorithm to perform distributed coverage of a given unknown area with multiple robots

This paper presents an algorithm for the complete coverage of free space by a team of mobile robots. Our approach is based on a single robot coverage algorithm, which divides the target two-dimensional space into regions called cells, each of which can be covered with simple back-and-forth motions; the decomposition of free space in a collection of such cells is known as Boustrophedon decomposition. Single robot coverage is achieved by ensuring that the robot visits every cell. The new multi-robot coverage algorithm uses the same planar cell-based decomposition as the single robot approach, but provides extensions to handle how teams of robots cover a single cell and how teams are allocated among cells. This method allows planning to occur in a two-dimensional configuration space for a team of N robots. The robots operate under the restriction that communication between two robots is available only when they are within line of sight of each other.