Fast Frontier Detection for Robot Exploration. - Matan Keidar; Eran Sadeh-Or; Gal A. Kaminka (AAMAS Workshops, 2011)

Robot exploration with fast frontier detection: theory and experiments. - Matan Keidar; Gal A. Kaminka (AAMAS, 2012)

Efficient frontier detection for robot exploration. - Matan Keidar; Gal A. Kaminka (Int. J. Robotics Res., 2014)