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Ada-Detector: Adaptive Frontier Detector for Rapid Exploration [article]

Zezhou Sun, Banghe Wu, Chengzhong Xu, Hui Kong
2022 arXiv   pre-print
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