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Algorithmic approaches to exhaustive coverage have application in videogames, enabling automatic game level exploration. Current designs use simpleheuristics that frequently result in poor performance or exhibit unnaturalbehaviour. In this paper, we introduce a novel algorithm for covering a 2Dpolygonal (with holes) area. We assume prior knowledge of the map layout anduse a grid-based world representation. Experimental analysis over severalscenarios ranging from simple layouts to more complex maps used in actual gamesshow good performance. This work serves as an initial step towards building amore efficient coverage path planning algorithm for non-player characters.

Offline Grid-Based Coverage path planning for guards in games