| Abstract: |  This thesis describes an algorithm for exploration of an unknown 3D environment that has been partially implemented. It is a frontier-void-based approach working on top of an occupancy grid, originally proposed in the paper by Dornhege and Kleiner, which represents a natural extension of the widespread class of frontier-based exploration algorithms working in 2D. Furthermore, the work presents a concept of capability maps, introduced by Franziska Zacharias, which can be used to precompute capabilities of a robotic manipulator offline and avoid many inverse kinematics computations during the selection of motion planning goals. Finally, key components of a ROS-based simulation environment and its setup are described.
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