Autonomous Robotics · ROS 2
Last Frontier Exploration
Frontier-based autonomous exploration that maps and navigates unknown indoor environments on its own.
Overview
A personal improvement on closest-frontier autonomous exploration, developed in ROS 2 as part of the PECORE (Perception and Cognition in Robotic Exploration) Master's course at UPC-ETSEIB.
The robot incrementally builds an occupancy map of an unknown indoor environment, detects the frontiers between explored and unexplored space, and autonomously navigates toward them until the map is complete — combining mapping, localization and planning in a single exploration loop.
Demo
Autonomous frontier-based exploration in ROS 2 (Gazebo)
Highlights
- Frontier detection on a live occupancy grid
- Autonomous navigation to the nearest information frontier
- Built on ROS 2 with Gazebo simulation
- Mapping + localization + planning in one loop
Gallery
© Víctor Escribano García
← Back to all projects