Exploration of an unknown space

[Leppy-tech]

Hello,
Not really a bug but a question.
I've installed and tested the VoxBlox mapping and exploration package and it looks amazing!
I've got a question regarding the goal selection. Is there any specific model that will allow to select goals so that a whole unknown space will be explored?
Is it within the scope of the package? And if not, do you know of any helper package that can interact with VoxBlox in order to achieve that?
Thank you