# Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration

arXiv: https://arxiv.org/abs/2009.02869 · HTML: https://mlsanity.com/paper/2009.02869/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Sep 2020.

## Built on by (most cited first, 3 of 3)

- [Open-vocabulary Mobile Manipulation in Unseen Dynamic Environments with 3D Semantic Maps](https://mlsanity.com/paper/2406.18115/) (2024)
- [Multimodal LLM Guided Exploration and Active Mapping using Fisher Information](https://mlsanity.com/paper/2410.17422/) (2024)
- [SD-OVON: A Semantics-aware Dataset and Benchmark Generation Pipeline for Open-Vocabulary Object Navigation in Dynamic Scenes](https://mlsanity.com/paper/2505.18881/) (2025)

## Abstract (arXiv)

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.