Incremental algorithms for Safe and Reachable Frontier Detection for robot exploration
Incremental algorithms for efficient frontier detection in 2D occupancy grid maps. Maintains reachability and mapped free space boundary information separately. Reachability is incrementally maintained through a safe-patch graph. Boundary cells are efficiently maintained as contours in a modified MX-Quadtree. Reachable contours are reported as valid frontiers improving detection accuracy.
incremental algorithms frontier detection autonomous exploration reachability detection spanning trees