Coverage planner

A system configured to generate a coverage plan, the system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable media having instructions stored thereon which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• receiving a plurality of nodes indicative of a perimeter of a region to be mowed;
• determining, based at least in part on the plurality of nodes, a plurality of triangles defining a triangle mesh;
• determining, based at least in part on the triangle mesh, a graph connecting the plurality of triangles;
• determining, based at least in part on the graph, a longest funneled path between pairs of nodes of the plurality of nodes, the longest funneled path comprising one or more straight portions and indicative of a longest distance between the pairs of nodes and being interior to the perimeter of the region;
• determining, based at least in part on the longest funneled path, a set of segments;
• determining, as the coverage plan and by performing an optimization, one or more connections between the set of segments and an order in which to traverse the set of segments and the one or more connections;
• and
• transmitting the coverage plan to an autonomous lawn mower configured to receive the coverage plan and control the autonomous lawn mower to traverse at least a portion of the coverage plan.