ClosestFrontier is a demonstration of mapping a completely connected
and bounded 2D discrete grid space with k particles that move uniformly.
The permissible moves are left, right, up and down. Each move is one pixel
in length. All particles move in the same direction unless stopped by
This algorithm for motion planning moves the particles in red to frontier
cells in blue until no frontier cells remain.
Inputs: k= number of particles, itr= number of iterations
outputs: movecount= number of moves taken for mapping, k= number of
particles and nodecount= vector with number of frontier cells in each
The DIJKSTRA distance is calculated in each cycle to find the shortest
distance from all particles to the frontiers.
There are 33 maps to choose from: 1 through 22 being
created through matrices and 24 through 33 being image read maps.
Map specifications can be found in blockMaps.m and selected by G.mapnum
A demonstration can be viewed in the link below.
Aaron T. Becker's Robot Swarm Lab (2021). ClosestFrontier: Particle Mapping using global inputs (https://www.mathworks.com/matlabcentral/fileexchange/63286-closestfrontier-particle-mapping-using-global-inputs), MATLAB Central File Exchange. Retrieved .
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