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In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. ... The experimental comparison shows that we reduce the frontier detection runtime by about 40% compared with the SOTA method, DSV Planner. ... Very recently, the Dual-Stage Viewpoint Planner (DSV Planner)  proposed a dynamically extended frontier detector. Figure 1 shows the dynamic expansion process. ...arXiv:2204.06237v1 fatcat:4tlmsnnjzndqrppshsgskuhy4e