{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/frontier-detection-and-reachability-analysis","title":"Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration","arxiv_id":"2009.02869","date":"2020-09-07","proceeding":null,"authors":["Zezhou Sun","Banghe Wu","Cheng-Zhong Xu","Sanjay E. Sarma","Jian Yang","Hui Kong"],"abstract":"We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.","url_abs":"https://arxiv.org/abs/2009.02869v1","url_pdf":"https://arxiv.org/pdf/2009.02869v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"frontier-detection-and-reachability-analysis","repo_url":"https://github.com/SunZezhou/Active-SLAM-with-Cartographer","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}