In this paper we propose a method to use the concept of natural boundaries in the exploration decisions of an autonomous robot on a virtual disaster site. The algorithm we created is based upon various methods from image morphology. By estimating the size of exploration frontiers we show that it’s possible to have global exploration algorithm.

Mereotopology is a theory of connected parts. The existence of boundaries, as parts of everyday objects, is basic to any such theory; but in classicalmereotopology, there is a problem: if boundaries exist, then either distinct entities cannot be in contact, or else space is not topologically connected (Varzi in Noûs 31:26–58, 1997). In this paper we urge that this problem can be met with a para...