This article addresses the challenge of UAV survey coverage path planning for areas that are complex concave polygons, containing exclusion zones or obstacles. While standard drone path planners typically generate coverage paths for simple convex polygons, this study proposes a method to manage more intricate regions, including boundary splits, merges, and interior holes. To achieve this, polygonal decomposition techniques are used to partition the target area into convex sub-regions. The sub-polygons are then merged using a depth-first search algorithm, followed by the generation of continuous Boustrophedon paths based on connected components. Polygonal offset by the straight skeleton method was used to ensure a constant safe distance from the exclusion zones. This approach allows UAV path planning in environments with complex geometric constraints.

Qualitative spatial reasoning deals with relational spatial knowledge and with how this knowledge can be processed efficiently. Identifying suitable representations for spatial knowledge and checking whether the given knowledge is consistent has been the main research focus in the past two decades. However, where the spatial information comes from, what kind of information can be obtained and how it can be obtained has been largely ignored. This paper is an attempt to start filling this gap. We present a method for extracting detailed spatial information from sensor measurements of regions. We analyse how different sparse sensor measurements can be integrated and what spatial information can be extracted from sensor measurements. Different from previous approaches to qualitative spatial reasoning, our method allows us to obtain detailed information about the internal structure of regions. The result has practical implications, for example, in disaster management scenarios, which include identifying the safe zones in bushfire and flood regions.

The study of topological information of spatial objects has for a long time been a focus of research in disciplines like computational geometry, spatial reasoning, cognitive science, and robotics. While the majority of these researches emphasised the topological relations between spatial objects, this work studies the internal topological structure of bounded plane regions, which could consist of multiple pieces and/or have holes and islands to any finite level. The insufficiency of simple regions (regions homeomorphic to closed disks) to cope with the variety and complexity of spatial entities and phenomena has been widely acknowledged. Another significant drawback of simple regions is that they are not closed under set operations union, intersection, and difference. This paper considers bounded semi-algebraic regions, which are closed under set operations and can closely approximate most plane regions arising in practice.

This paper proposes a layered graph model for representing the internal structure of complex plane regions, where each node represents the closure of a connected component of the interior or exterior of a complex region. The model provides a complete representation in the sense that the (global) nine-intersections between the interiors, the boundaries, and the exteriors of two complex regions can be determined by the (local) RCC8 relations between associated simple regions.