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Yes, you are looking for a ROS node for Frontier Exploration. In frontier exploration a robot combines the exploration of unknown territory with simultaneous localization and mapping (SLAM) in order to create a map of new discovered areas, until the entire environment has been explored.

This package should cover most needs:

Frontier Exploration


Here are some additional ressources if needed:

- Hector Exploration Planner

- RRT Exploration

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Yes, you are looking for a ROS node for Frontier Exploration. In frontier exploration a robot combines the exploration of unknown territory with simultaneous localization and mapping (SLAM) in order to create a map of new discovered areas, until the entire environment has been explored.

This package should cover most needs:

Frontier Exploration


Here are some additional ressources if needed:


- Hector Exploration Planner


- RRT Exploration