A recently developed feature for the REEM humanoid robots is autonomous exploration.
The exploration system enables the robot to move around an unknown environment and create a map of the place without human intervention. Once the map has been created, REEM is able to localize itself in the map and navigate to any reachable goal.
How does it work?
The exploration module receives the map from the SLAM (Simultaneous Localization and Mapping) algorithm, checks which places in the map it can reach by inflating the obstacles and detects frontiers (boundaries between the known and the unknown part of the map).
By moving to frontiers, the robot will end up exploring the available space