diff --git a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
index 307aca1..59b7fb6 100644
--- a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
+++ b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
@@ -46,6 +46,7 @@ void ComputeCoveragePathAction::on_tick()
     // Convert from vector of Polygons to coverage sp. message
     std::vector<geometry_msgs::msg::Polygon> polys;
     getInput("polygons", polys);
+    goal_.polygons.clear();
     goal_.polygons.resize(polys.size());
     for (unsigned int i = 0; i != polys.size(); i++) {
       for (unsigned int j = 0; j != polys[i].points.size(); j++) {