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. 2021 Jun 24;21(13):4332. doi: 10.3390/s21134332

Algorithm 1 Pseudo-code of the exploration strategy with modified frontier exploration algorithm

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$F \Leftarrow c h e c k F r o n t i e r ()$
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for Every points in F do
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if F is a connected frontier then
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$F_{c o n n e c t e d} \Leftarrow F_{i}$
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end if
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end for
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for Every points in $F_{c o n n e c t e d}$ do
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$C^{o p e n} \Leftarrow$ compute centeroid of $F_{c o n n e c t e d}$
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Arrange $C^{o p e n}$ in ascending order of distance from robot pose
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end for
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for $C^{o p e n}$ is not empty do
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$d e s t i n a t i o n_p o s e \Leftarrow F_{i}^{o p e n}$
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Check for Probable Dirt Points.
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if Probable Dirt Points then
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Transform interest point to global frame assign to $I P^{o p e n}$
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Arrange $D P^{o p e n}$ in ascending order of distance from robot pose
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for Every points in $D P^{o p e n}$ do
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Transform interest point to global frame
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Generate sample points S
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Select sample points diagonally and insert to $S P$
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if Selected sample point not in obstacle then
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Insert sample point to $S P$
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end if
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for Every points in $S P$ do
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Navigate the robot to $S P_{i}$
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end for
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$D P_{i}^{c l o s e d} \Leftarrow D P_{i}^{o p e n}$
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end for
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end if
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Navigate the robot to $C_{i}^{o p e n}$
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$C_{i}^{c l o s e d} \Leftarrow C_{i}^{o p e n}$
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Initiate a $360^{deg}$ sweep
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$F \Leftarrow c h e c k F r o n t i e r ()$
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end for