“标记-清扫” 算法的问题是可能会导致碎片（fragmentation），如图 2 所示。
The problem with a mark-sweep algorithm is that it can lead to fragmentation (Figure 2).
为解决通风管道清扫机器人在水平矩形管道中的自主行驶问题，设计了一种基于红外测距传感器信息的控制算法。
To solve the problem of autonomous running for duct-cleaning robots in horizontal rectangle ducts, a control algorithm based the information of infrared distance measuring sensors is presented.
针对室内清扫机器人清扫任务的特点，即要充满房间的可达区域，提出了一种区域充满拓扑算法。
A topological area coverage algorithm for indoor cleaning robot according to the cleaning task is put forward.
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