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A prominent theme of recent SLAM research is the pursuit of environmental representations (including learned representations) that go beyond the classical attributes of geometry and appearance to model properties such as hierarchical organization, affordance, dynamics, and semantics; these advances equip autonomous agents with a more comprehensive understanding of the world, enabling more versatile and intelligent operation. A second major theme is a revitalized interest in the mathematical properties of the SLAM estimation problem itself (including its computational and information-theoretic performance limits); this work has led to the development of novel classes of certifiable and robust inference methods that dramatically improve the reliability of SLAM systems in real-world operation. We survey these advances with an emphasis on their ramifications for achieving robust, long-duration autonomy, and conclude with a discussion of open challenges and a perspective on future research directions. <\/jats:p>","DOI":"10.1146\/annurev-control-072720-082553","type":"journal-article","created":{"date-parts":[[2021,1,6]],"date-time":"2021-01-06T22:45:35Z","timestamp":1609973135000},"page":"215-242","source":"Crossref","is-referenced-by-count":70,"title":["Advances in Inference and Representation for Simultaneous Localization and Mapping"],"prefix":"10.1146","volume":"4","author":[{"given":"David M.","family":"Rosen","sequence":"first","affiliation":[{"name":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA;"}]},{"given":"Kevin J.","family":"Doherty","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, 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