Comparative study of frontier based exploration methods

Exploration of an unknown area is a challenging topic in the field of robotics. It has gained concern of many researchers due to its pertinence to various applications. In this paper we present the survey of frontier based exploration techniques for single and multi robot. Main challenge in frontier based exploration techniques is to allocate the most promising frontier cell to each robot. Variety of approaches have been implemented for both single and multi robot in practical and simulated experiment. The objective of this paper is to provide an understanding of frontier based exploration methods. We also provide taxonomy of frontier based techniques and compared them based on their characteristic features.