Efficient frontier detection for robot exploration

@article{Keidar2014EfficientFD,
  title={Efficient frontier detection for robot exploration},
  author={Matan Keidar and Gal A. Kaminka},
  journal={The International Journal of Robotics Research},
  year={2014},
  volume={33},
  pages={215 - 236}
}
Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. In frontier-based exploration, robots explore by repeatedly detecting (and moving towards) frontiers, the segments which separate the known regions from those unknown. A frontier detection sub-process examines map and/or sensor readings to identify frontiers for exploration. However, most frontier detection algorithms process the entire map data. This can be a time-consuming process, which… CONTINUE READING

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