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The importance of area coverage with unmanned vehicles, in other words,traveling an area with an unmanned vehicle such as a robot or a UAV completelyor partially with minimum cost, is increasing with the increase in usage ofsuch vehicles today. Area coverage with unmanned vehicles is used today in theexploration of an area with UAVs, sweeping mines with robots, cleaning groundwith robots in large shopping malls, mowing lawn in a large area etc. Theproblem has versions such as area coverage with a single unmanned vehicle, areacoverage with multiple unmanned vehicles, on-line area coverage (The map of thearea that will be covered is not known before starting the coverage) withunmanned vehicles etc. In addition, the area may have obstacles that thevehicles cannot move over. Naturally, many researches are working on theproblem and a lot of researches have been done on the problem until today.Spanning tree coverage is one of the major approaches to the problem. In thisapproach, at the basic level, the planar area is divided into identical squaresaccording to the range of sight of the vehicle, and centers of these squaresare assumed to be vertexes of a graph. The vertexes of this graph are connectedwith the edges with unit costs and after finding the minimum spanning tree ofthe graph, the vehicle strolls around the spanning tree. The method we proposesuggests a way to cover a non-planar area with unmanned vehicles. The method wepropose also takes advantage of the spanning-tree coverage approach, butinstead of assigning unit costs to the edges, we assigned a weight to each edgeusing slopes between vertexes those the edges connect. We have gottennoticeably better results than the results we got when we did not consider theslope between two squares and used the classical spanning tree approach.

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