  The research on multi-robot coverage path planning (CPP) has been attracting
more and more attention. In order to achieve efficient coverage, this paper
proposes an improved DARP coverage algorithm. The improved DARP algorithm based
on A* algorithm is used to assign tasks to robots and then combined with STC
algorithm based on Up-First algorithm to achieve full coverage of the task
area. Compared with the initial DARP algorithm, this algorithm has higher
efficiency and higher coverage rate.
