A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration

In this letter we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors, such as LiDARs, that produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and the unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by the cluster...