Fig. 3
From: Human activity-aware coverage path planning for robot-based mosquito control
1 - Area of effect (AOE) can be described by the radial length, \(\phi\), of the grid with respect to robot position (computing waypoint), 2 - As the robot approach closer to the human simulation, the risk potential (residual risk, \(r^{*}_r\)) within the AOE boundary reduces, 3 - If the robot is next to the human pose, the risk potential (carrying risk, \(r^{*}_c\)) surrounding the specific human pose reduces to 0. Interest targets refer to human surround (neighboring neurons around a simulated human position.
