resources to learn the foundations of frontier exploration in ROS1

asked 2023-01-20 14:06:06 -0600

distro gravatar image

I have been trying to find clear resources to help me learn how exactly frontier exploration works:

[i] How are new cells(obstaacles,free space,added) added to the updateing occupancygrid map and how does this affect how the occupancy grid probability array is created.

[ii] Does this affect the position of the origin as the map gets bigger?

[iii] How are the map co-ordinates stored?

[iv] How does is the goal to move to chosen?

I've looked at the explore_lite ROS wiki and these things seem to be kinda glossed over but not explained in full detail.

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A lot of this info can be reverse-engineered from the code - it's not ideal, but at least it is a start. Please share any resource you found already, it can give others a hint what to check or (maybe) it will remind them some nice articles/books/...

ljaniec gravatar image ljaniec  ( 2023-01-20 15:15:04 -0600 )edit