Bishop Graham Cray has an article in IDEA magazine entitled Is there a theology for pioneering? which is well worth a read. He ends up saying
Through the Holy Spirit, the Church is a pioneering missionary community but within the Spirit’s gifts there is a particular calling to a ‘boundary crossing’ or apostolic ministry. Certain people in Acts, some named (e.g. Peter and Paul) and some anonymous (Acts 11:20), pioneered the way for others to follow. A pioneering Church needs its pioneers and needs them today.