La exploración basada en fronteras es un concepto que se remonta a 1997. El algoritmo utiliza una estrategia de recorrido de gráficos Breadth First Search (BFS) de 2 niveles. Utiliza un BFS externo para escanear el mapa e identificar posibles fronteras. Un BFS interno agrupa celdas de frontera conectadas en conglomerados de fronteras.
Algoritmo Wavefront Frontier para Mapeo Autónomo en Entornos Desconocidos
Exploración basada en fronteras mediante algoritmo BFS de 2 niveles para identificar y agrupar posibles fronteras en un mapa.
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