Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R3

We address the task of covering a closed orientable surface embedded in < without any prior information about the surface. For applications such as paint deposition, the e ector (the paint atomizer) does not explicitly cover the target surface, but instead covers an o set surface | a surface that is a xed distance away from the target surface. Just as Canny and others use critical points to look for changes in connectivity of the free space to ensure completeness of their roadmap algorithms, we use critical points to identify changes in the connectivity of the o set surface to ensure full surface coverage. The main contribution of this work is a method to construct unknown o set surfaces using a procedure, also developed in this paper, to detect critical points.