Modern C++ frontier exploration package for autonomous mobile robots, with a core C++ library for custom integrations alongside ROS 2 Jazzy & Humble, Nav2 support.
Autonomous exploration and mapping using a mobile robot
Full-stack ROS 2 autonomous navigation: Nav2, SLAM Toolbox, RTAB-Map & ORB-SLAM3 VSLAM, Gazebo Harmonic, Docker, multi-robot fleet coordination, collaborative loop closure, coordinated frontier exploration, MPPI controller, behavior trees, waypoint following & Gaussian Splatting capture on Humble/Jazzy.
A frontier exploration module implementied with ROS 2, C++, and Python.
This workspace is a sandbox for multi-robot research.
Highly efficient holistic 2D visibility solution for grid-based environments/maps (C++ and MATLAB). Extends to a planner.
Multi-Robot Exploration, Mapping and Navigation using ros2
ROS package for frontier exploration based on wavefront frontier detection
ROS 2 Jazzy frontier exploration package implementing map optimization and MRTSP-based frontier ordering from Liu et al. (2025)
Utilize multiple robots to autonomously explore an environment and generate a single merged global map
Pointcloud-based frontier exploration using ROS, PCL and C++.
Autonomous & Manual Mine Mapping Robot — A ROS 2-based underground mine exploration and mapping system using TurtleBot3, Gazebo, SLAM, and Nav2. The robot supports manual teleoperation, assisted obstacle avoidance, and fully autonomous frontier-based exploration to build an occupancy-grid map of a custom underground mine environment.
multi-agent moving target pursuit in an unknown 4-connected grid world with persistent coverage planning
An attempt to implement Wave Frontier Detector (WFD) technique based frontier exploration from scratch
This project has implementations of various SLAM algorithms runnig on ROS Melodic
ROS2-based navigation framework for autonomous mobile robots integrating path planning, localization, and exploration on the Robile platform.
Quickly prototype frontier exploration algorithm for 2D SLAM applications
Multi-agent cooperative system for mapping and surveillance using e-Puck robots in Webots. Leverages robotics, computer vision, and machine learning for real-time coordination and environment mapping. Enhances mapping accuracy, exploration efficiency, and surveillance coverage compared to single-agent systems. Video Simulation on the link
Re-evaluation of instruction-guided ObjectNav: simple frontier geometry matches or exceeds complex LLM-based navigation pipelines.
SLAM tasks on the TurtleBot3 burger.
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