{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T16:39:25Z","timestamp":1782923965380,"version":"3.54.5"},"reference-count":19,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2005,11,1]],"date-time":"2005-11-01T00:00:00Z","timestamp":1130803200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,11]]},"abstract":"<jats:p>In spray painting applications, it is essential to generate a spray gun trajectory such that the entire surface is completely covered and receives an acceptably uniform layer of paint deposition; we call this the \u201cuniform coverage\u201d problem. The uniform coverage problem is challenging because the atomizer emits a non-trivial paint distribution, thus making the relationships between the spray gun trajectory and the deposition uniformity complex. To understand the key issues involved in uniform coverage, we consider surface patches that are geodesically convex and topologically simple as representative of subsets of realistic automotive surfaces. In addition to ensuring uniform paint deposition on the surface, our goal is to also minimize the associated process cycle time and paint waste. Based on the relationships between the spray gun trajectory and the output characteristics (i.e., uniformity, cycle time and paint waste), our approach decomposes the coverage trajectory generation problem into three subproblems: (1) selecting a seed curve, (2) determining a speed profile along each pass, and (3) selecting the spacing between successive passes. Using concepts such as area magnification and the Gauss-Bonnet theorem from differential geometry, as well as standard optimization procedures, we present procedures to solve each subproblem independently from the others. We demonstrate our trajectory planning procedures by approximating real automotive surfaces by simple surfaces in simulation, and finally evaluate the effectiveness of our algorithms experimentally on real automotive surfaces.<\/jats:p>","DOI":"10.1177\/0278364905059058","type":"journal-article","created":{"date-parts":[[2005,11,3]],"date-time":"2005-11-03T10:29:17Z","timestamp":1131013757000},"page":"883-898","source":"Crossref","is-referenced-by-count":140,"title":["Uniform Coverage of Automotive Surface Patches"],"prefix":"10.1177","volume":"24","author":[{"given":"Prasad N.","family":"Atkar","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aaron","family":"Greenfield","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David C.","family":"Conner","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Howie","family":"Choset","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alfred A.","family":"Rizzi","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA 15213, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2005,11,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Asakawa, N. and Takeuchi, Y. 1997. Teachless spray-painting of sculptured surface by an industrial robot . Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, April, Vol. 3, pp. 1875-1879 .","DOI":"10.1109\/ROBOT.1997.619061"},{"key":"atypb2","unstructured":"Atkar, P. N., Conner, D. C., Greenfield, A., Choset, H., and Rizzi, A. A. 2005. Hierarchical segmentation of surfaces embedded in K3 for auto body painting . Proceedings of the IEEE International Conference on on Robotics and Automation, Barcelona, Spain, April."},{"key":"atypb3","doi-asserted-by":"crossref","unstructured":"Chen, H., Sheng, W., Xi, N., Song, M., and Chen, Y. 2002. Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing . Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, May, Vol. 1, pp. 450-455 .","DOI":"10.1109\/ROBOT.2002.1013401"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Chen, H., Xi, N., Wei, Z., Chen, Y., and Dahl, J. 2003. Robot trajectory integration for painting automotive parts with multiple patches . Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September, Vol. 3, pp. 3984-3989 .","DOI":"10.1109\/ROBOT.2003.1242209"},{"key":"atypb5","unstructured":"Conner, D. C., Atkar, P. N., Rizzi, A. A., and Choset, H. 2002. Deposition modeling for paint application on surfaces embedded in R3 for use in automated trajectory planning. Technical Report CMU-RI-TR-02-08, Carnegie Mellon, Robotics Institute, Pittsburgh, PA , June."},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Conner, D. C., Greenfield, A., Atkar, P. N., Rizzi, A. A., and Choset, H. 2004. Paint deposition modeling for trajectory planning on automotive surfaces . IEEE Transactions on Automation Science and Engineering submitted.","DOI":"10.1109\/TASE.2005.851631"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Freund, E., Rokossa, D., and Ro\u00dfmann, J. 1998. Process-oriented approach to an efficient off-line programming of industrial robots . Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (IECON '98), Vol. 1, pp. 208-213 .","DOI":"10.1109\/IECON.1998.723992"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Held, M. 1991. On Computational Geometry of Pocket Machining , Lecture Notes in Computer Science, Springer-Verlag, New York.","DOI":"10.1007\/3-540-54103-9"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Huang, W. H. 2001. Optimal line-sweep-based decompositions for coverage algorithms . Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May, Vol. 1, pp. 27-32 .","DOI":"10.1109\/ROBOT.2001.932525"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.814497"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/70.611308"},{"key":"atypb12","unstructured":"Rausch, T., Wolter, F.E., and Sniehotta, O. 1997. Computation of medial curves on surfaces. The Mathematics of Surfaces VII, Information Geometers, pp. 43-68."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4563(200009)17:9<479::AID-ROB3>3.0.CO;2-L"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826244"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Sheng, W., Xi, N., Song, M., Chen, Y., and MacNeille, P. 2000. Automated CAD-guided robot path planning for spray painting of compound surfaces . Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, October 30-November 5, Vol. 3, pp. 1918-1923 .","DOI":"10.1109\/IROS.2000.895251"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-8396(01)00088-7"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Suh, S-H., Woo, I-K., and Noh, S-K. 1991. Development of an automated trajectory planning system (ATPS) for spray painting robots . Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, April, pp. 1948-1955 .","DOI":"10.1109\/ROBOT.1991.131912"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1115\/1.2901938"},{"key":"atypb19","doi-asserted-by":"crossref","unstructured":"Thorpe, J. A. 1979. Elementary Topics in Differential Geometry, Springer-Verlag, New York .","DOI":"10.1007\/978-1-4612-6153-7"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364905059058","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364905059058","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:13Z","timestamp":1777457833000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364905059058"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,11]]},"references-count":19,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2005,11]]}},"alternative-id":["10.1177\/0278364905059058"],"URL":"https:\/\/doi.org\/10.1177\/0278364905059058","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,11]]}}}