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Hi,

One good work about Complete Coverage Path Planning using Boustrophedon Motions you can find in the article: "BA*: an online complete coverage algorithm for cleaning robots". I think is one the best options for the problem that you are trying to solve. I don't have the implementation using ROS.

https://link.springer.com/content/pdf/10.1007%2Fs10489-012-0406-4.pdf

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