Rating the performance of robotic coverage tasks

A specific class of mobile robot applications are complete coverage tasks like cleaning, painting or lawn mowing. In general, effectiveness and efficiency measures are used. But these are isolated measures which do not reflect the specific expectations of an user or an application domain. This paper henceaddresses an integrative measure integrating both common measures with the newly introduced measure of closeness. This integrating measure allows to reflect the satisfaction of a user because it can be tailored to a specific application, although it is generally applicable.