Detailed working of the explore_lite package

[adbidwai]

I want to know how exactly are the frontiers detected and selected by the explore_lite package.

In the API documentation (ROSWiki), it says that the project is based on the explore package by Charles DuHadway and the current frontier search algorithm is based on frontier_exploration by Paul Bovbel, but none of the links lead to a documentation which could help me understand the way the frontiers are detected and selected.

I also found a master degree thesis report but it does not provide much info about "how" the frontiers are detected and selected.

Reading and understanding the source code is always a way but I'm afraid it would take me a lot of time.

If anyone has any insights to provide about the working, you're always welcome to share it in this thread.

Any help is highly appreciated

TIA

[Pratik-94]

This might help:
https://gingineer95.github.io/2021/03/21/multirobot-map-merge/