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Ada-Detector: Adaptive Frontier Detector for Rapid Exploration
[article]
2022
arXiv
pre-print
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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) [8] proposed a dynamically extended frontier detector. Figure 1 shows the dynamic expansion process. ...
arXiv:2204.06237v1
fatcat:4tlmsnnjzndqrppshsgskuhy4e