Before revision:  Through rigorous simulations, real robot experiments and comparisons with the state-of-the-art methods, we demonstrate that our approach achieves similar coverage and lesser overall map entropy  while keeping the traversed distance up to 36\% less than the other methods  . Code and implementation details are provided as open-source .
After revision:  Through rigorous simulations, real robot experiments and comparisons with the state-of-the-art methods, we demonstrate that our approach achieves similar coverage and lesser overall map entropy while keeping the traversed distance up to 36\% less than the other methods and without increasing the wheels' total rotation amount . Code and implementation details are provided as open-source .