During the REXASI-PRO project the main developments for the mapping procedure can be divided into two lines of work: the hardware part and the software part. The video clearly returns the software part of the developments to the viewer. The latter presupposed a path planning algorithm in order to navigate in a scenario with different size rooms, whilst generating a 2D map in real time and autonomously exploring the scenario. Therefore, the frontiers available were surveyed and the next borders to be visited were defined, generating a map towards these. The main algorithms developed have been the following: path planning, mapping, frontier detection and definition.