https://github.com/peterWon/CleaningRobot
https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathPlanning/GridBasedSweepCPP
https://www.cnblogs.com/wileywote0633/p/10932747.html
https://github.com/wjjcdy/GridBasedSweepCPP
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