Hi all,
Currently I am using the following resource to implement my coverage path planning,

• Wall following tutorial
• Boustrophedon path planning

And I can achieve a simple coverage path planning demo like left side image in this link( coverage path planning).

Now I need to implement the decomposition function for my coverage path planning algorithm.
(like right side in previous image link)

I have try some keywords (cell by cell, block, partition, decomposition + coverage path planning),
but so far without success...

Are there any resources, packages or papers have already provide this kind of algorithm,
So the robot can do coverage path planning "cell by cell" and don't need to input a map in advance?
Or any suggestion about how to implement this kind of algorithm?
Thanks!