Fig. 1. Modeling and defects of point cloud slice model. (a) Slicing; (b) intersection; (c) clustering and convex hull

Fig. 2. Screening of additional view points

Fig. 3. Viewpoint transformation arc set

Fig. 4. Splitting of arc

Fig. 5. Modeling results of covering path arc model. (a) Point cloud slice modeling; (b) adding supplementary arc

Fig. 6. Unit decomposition model modeling results. (a) Viewpoint; (b) Viewpoint pathway

Fig. 7. Task assignment results. (a) N=3; (b) N=4; (c) N=5; (d) N=6

Fig. 8. Comparison of allocation uniformity. (a) Task set with high uniformity; (b) task set with low uniformity

Fig. 9. CRSOM planning results. (a) att48; (b) eil101; (c) ch150; (d) d198; (e) rand200; (f) gil262; (g) a280; (h) lin318; (i) pcb442

Fig. 10. Planning path results. (a) N=3; (b) N=4; (c) N=5; (d) N=6

Fig. 11. Relationship between number of agents and task completion time of system