Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Introduction to Algorithms
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Multi-objective exploration and search for autonomous rescue robots: Research Articles
Journal of Field Robotics
On fast exploration in 2D and 3D terrains with multiple robots
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Algorithm for computer control of a digital plotter
IBM Systems Journal
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Robot exploration with fast frontier detection: theory and experiments
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
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Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. In frontier-based exploration, robots explore by repeatedly computing (and moving towards) frontiers, the segments which separate the known regions from those unknown. However, most frontier detection algorithms process the entire map data. This can be a time consuming process which slows down the exploration. In this paper, we present two novel frontier detection algorithms: WFD, a graph search based algorithm and FFD, which is based on processing only the new laser readings data. In contrast to state-of-the-art methods, both algorithms do not process the entire map data. We implemented both algorithms and showed that both are faster than a state-of-the-art frontier detector implementation (by several orders of magnitude).