Frontier-based exploration is a concept that dates back to 1997. The algorithm uses a 2-level Breadth First Search (BFS) graph traversal strategy. It uses an external BFS to scan the map and identify potential frontiers. An internal BFS groups connected frontier cells into frontier clusters.
Wavefront Frontier Algorithm for Autonomous Mapping in Unknown Environments
Frontier-based exploration using a 2-level BFS algorithm to identify and group potential frontiers on a map.
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