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Explore Mode

The robot autonomously navigates to unmapped frontier cells until the entire reachable space is mapped, then returns home. No manual driving required.

Autonomous IDD only

Explore requires Autonomous IDD mode. Switch in Settings → Operating Mode.

Prerequisites

  • Robot built and calibrated → Drive & Calibrate
  • SLAM is running and tracking state shows Normal
  • At least 1.5 m of clear space around the robot
  • Battery reasonably charged — exploration can take 5–20 minutes depending on space size

How to start

  1. Open the Scan tab → tap Start to begin SLAM.
  2. Let the robot build an initial map for 30–60 seconds (drive it around manually if needed to seed the map).
  3. Tap Actions → Explore.
  4. A countdown overlay appears. Stand back.

The robot performs a 360° spin first to orient itself and detect nearby obstacles, then begins navigating to frontier cells — the boundary between mapped free space and unknown area.

What you see

Display Meaning
Drive state: planning Computing path to next frontier
Drive state: driving (X.Xm) En route to frontier; X.X metres remaining
Drive state: rotating Arrived at waypoint, scanning
Drive state: unstucking (N/3) Recovery in progress
Green path line on Scan tab Current planned route

The map grows as the robot reaches new areas. Explored frontiers turn from grey (unknown) to white (free) or black (obstacle).

When exploration ends

Exploration stops when: - All reachable frontiers are mapped - The time limit is reached (configurable in Control tab → Autonomous Behaviours → exploreTimeout) - You tap Stop - The robot gets stuck and all three recovery attempts fail

The robot returns to its starting position when exploration completes normally.

Tips

  • Seed the map first. Manually driving through doorways or around key obstacles before starting Explore helps the planner reach more of the space.
  • Lighting matters. SLAM tracking degrades in dark or featureless corridors. Poor tracking → inaccurate frontiers → exploration loops or missed areas.
  • Reduce speed for tight spaces. Lower driveMaxLinSpeed in Drive Calibration if the robot clips doorframes.

Troubleshooting

Robot spins but doesn't move: No frontiers detected — the map may already be complete, or SLAM hasn't seen enough to generate frontiers yet. Drive manually for 30 seconds then retry.

Stuck recovery fails repeatedly: The robot may be in a narrow gap its body dimensions don't fit through. Tap a manual goal on the map to move it to a more open area, then restart Explore.

Exploration ends too quickly: Check the time limit in Control tab → Autonomous Behaviours → exploreTimeout. Default is 10 minutes.

→ Troubleshooting — full connection and SLAM issue guide