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A review of literature shows that there is a variety of works studying coverage path planning in several autonomous robotic applications. In this work, we propose a new approach using Markov Decision Process to plan an optimum path to reach the general goal of exploring an unknown environment containing buried mines. This approach, called Goals to Goals Area Coverage on-line Algorithm, is based on a decomposition of the state space into smaller regions whose states are considered as goals withdoi:10.11591/ijict.v6i2.pp105-116 fatcat:geiumlys7beaxgujrjozdkhvju