Fig. 4
From: Human activity-aware coverage path planning for robot-based mosquito control
1 - Social layer (upper layer, \(\mu\)) and coverage layer (lower layer, \(\nu\)) can be stacked to represent the same space on the actual map (M), 2 - both corresponding network neurons will react corresponding to the path plan position as described in (1) - (10), 3 - The social layer will result in complete open space neurons with no interest targets. Interest targets refer to human surround (neighboring neurons around a simulated human position for the social layer. For the uncovered layer, the open space refers to covered areas, while interest targets refer to uncovered areas.
