Online Evasive Strategy for Aerial Survey using Sierpinski curve

This paper deals with the aerial survey of a closed region using Space-Filling curve, particularly Sierpinski curve. The specified is triangulated, and curve used to explore each triangular region. entire may have one or more obstacles. An algorithm presented which suggests evasive maneuver if an obstacle detected. online; that is, it does not require prior knowledge location obstacles can be while robotic system traverses designated path. fractal nature simple geometric observations were formulate validate algorithm. non-uniform coverage multiple problems are also dealt towards end.