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In autonomous robot exploration, the frontier is the border in the world mapbetween the explored space and unexplored space. The frontier plays animportant role when deciding where in the environment the robots should goexplore next. We examine a modular control system pipeline for autonomousexploration where a 2D graph SLAM algorithm based on occupancy grid submapsperforms map building and localization. We provide an overview of the state ofthe art in frontier detection and the relevant SLAM concepts and propose aspecialized frontier detection method which is efficiently constrained toactive submaps, yet robust to SLAM loop closures.

Efficient Dense Frontier Detection for 2D Graph SLAM Based on Occupancy Grid Submaps