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We propose an integrated approach to active exploration by exploiting theCartographer method as the base SLAM module for submap creation and performingefficient frontier detection in the geometrically co-aligned submaps induced bygraph optimization. We also carry out analysis on the reachability of frontiersand their clusters to ensure that the detected frontier can be reached byrobot. Our method is tested on a mobile robot in real indoor scene todemonstrate the effectiveness and efficiency of our approach.

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