{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T09:00:08Z","timestamp":1782982808651,"version":"3.54.5"},"reference-count":133,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2023,9,27]],"date-time":"2023-09-27T00:00:00Z","timestamp":1695772800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"DIONISO Project","award":["progetto SCN_00320-INVITALIA"],"award-info":[{"award-number":["progetto SCN_00320-INVITALIA"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly in trajectory generation and control-action selection, drawing on concepts from Information Theory (IT) and the Theory of Optimal Experimental Design (TOED). This review includes both qualitative and quantitative analyses of various approaches, deployment scenarios, configurations, path-planning methods, and utility functions within A-SLAM research. Furthermore, this article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM), focusing on collaborative aspects within SLAM systems. It includes a thorough examination of collaborative parameters and approaches, supported by both qualitative and statistical assessments. This study also identifies limitations in the existing literature and suggests potential avenues for future research. This survey serves as a valuable resource for researchers seeking insights into A-SLAM methods and techniques, offering a current overview of A-SLAM formulation.<\/jats:p>","DOI":"10.3390\/s23198097","type":"journal-article","created":{"date-parts":[[2023,9,27]],"date-time":"2023-09-27T03:49:14Z","timestamp":1695786554000},"page":"8097","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":62,"title":["Active SLAM: A Review on Last Decade"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6034-3409","authenticated-orcid":false,"given":"Muhammad Farhan","family":"Ahmed","sequence":"first","affiliation":[{"name":"Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), CNRS, Ecole Centrale de Nantes, 1 Rue de la No\u00eb, 44300 Nantes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4943-0178","authenticated-orcid":false,"given":"Khayyam","family":"Masood","sequence":"additional","affiliation":[{"name":"Capgemini Engineering, 4 Avenue Didier Daurat, 31700 Blagnac, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1627-2241","authenticated-orcid":false,"given":"Vincent","family":"Fremont","sequence":"additional","affiliation":[{"name":"Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), CNRS, Ecole Centrale de Nantes, 1 Rue de la No\u00eb, 44300 Nantes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3472-3023","authenticated-orcid":false,"given":"Isabelle","family":"Fantoni","sequence":"additional","affiliation":[{"name":"Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), CNRS, Ecole Centrale de Nantes, 1 Rue de la No\u00eb, 44300 Nantes, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1385","DOI":"10.1007\/s12046-015-0402-6","article-title":"Where Am I? Creating Spatial Awareness in Unmanned Ground Robots Using SLAM: A Survey","volume":"40","author":"Dhiman","year":"2015","journal-title":"Sadhana"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Saeedi, S., Paull, L., Trentini, M., and Li, H. (2011, January 25\u201330). Multiple Robot Simultaneous Localization and Mapping. Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and System, San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6094709"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1109\/MITS.2010.939925","article-title":"A Tutorial on Graph-Based SLAM","volume":"2","author":"Grisetti","year":"2010","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"ref_4","unstructured":"Pancham, A., Tlale, N., and Bright, G. (2011, January 23\u201325). Literature review of SLAM and DATMO. Proceedings of the 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, South Africa."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"490","DOI":"10.4103\/0256-4602.125671","article-title":"Recent Advances on Simultaneous Localization and Mapping for Mobile Robots","volume":"30","author":"Zamora","year":"2013","journal-title":"IETE Tech. Rev."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Nabil, M., Kassem, M.H., Bahnasy, A., Shehata, O.M., and Morgan, E.-S.I. (2016, January 7\u201311). Rescue missions bots using A-SLAM and map feature extraction. Proceedings of the 4th International Conference on Control, Mechatronics and Automation\u2013ICCMA \u201916, Barcelona, Spain.","DOI":"10.1145\/3029610.3029624"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1108\/AEAT-12-2016-0239","article-title":"Autonomous Planetary Rover Navigation via A-SLAM","volume":"91","author":"Li","year":"2018","journal-title":"Aircr. Eng. Aerosp. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1182","DOI":"10.1109\/TMECH.2019.2963439","article-title":"A-SLAM for mobile robots with area coverage and obstacle avoidance","volume":"25","author":"Chen","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"ref_9","unstructured":"Mammolo, D. (2019). A-SLAM in Crowded Environments. [Master\u2019s Thesis, Autonomous Systems Lab, ETH Zurich]."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Chaves, S.M., and Eustice, R.M. (2016, January 9\u201314). Efficient planning with the Bayes Tree for A-SLAM. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Republic of Korea.","DOI":"10.1109\/IROS.2016.7759686"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Palomeras, N., Carreras, M., and Andrade-Cetto, J. (2019). A-SLAM for autonomous underwater exploration. Remote Sens., 11.","DOI":"10.3390\/rs11232827"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Suresh, S., Sodhi, P., Mangelson, J.G., Wettergreen, D., and Kaess, M. (August, January 31). A-SLAM using 3D SUBMAP saliency for underwater volumetric exploration. Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.","DOI":"10.1109\/ICRA40945.2020.9196939"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1007\/s11370-019-00310-w","article-title":"Path planning for A-SLAM based on deep reinforcement learning under unknown environments","volume":"13","author":"Wen","year":"2020","journal-title":"Intell. Serv. Robot."},{"key":"ref_14","unstructured":"Perdig\u00e3o, J.D.S. (2014). Collaborative-Control Based Navigation of Mobile Human-Centered Robots. [Master\u2019s Thesis, University of Coimbra]. Available online: http:\/\/hdl.handle.net\/10316\/40415."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Arvanitakis, I., and Tzes, A. (2017, January 3\u20136). Collaborative mapping and navigation for a mobile robot swarm. Proceedings of the 2017 25th Mediterranean Conference on Control and Automation (MED), Valletta, Malta.","DOI":"10.1109\/MED.2017.7984199"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Leung, C., Huang, S., and Dissanayake, G. (2006, January 9\u201313). A-SLAM using model predictive control and attractor based exploration. Proceedings of the IEEE\/RSJ International Conference of Intelligent Robots Systems, Beijing, China.","DOI":"10.1109\/IROS.2006.282530"},{"key":"ref_17","unstructured":"Feder, H.J.S. (1999). Simultaneous Stochastic Mapping and Localization. [Ph.D. Thesis, Dept. Mech. Eng., MIT]."},{"key":"ref_18","unstructured":"Barto, A.G., and Sutton, R.S. (1981). Goal Seeking Components for Adaptive Intelligence: An Initial Assessment, Air Force Wright Aeronautical Laboratories."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","article-title":"Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age","volume":"32","author":"Cadena","year":"2016","journal-title":"IEEE Trans. Robot."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Lluvia, I., Lazkano, E., and Ansuategi, A. (2021). Active Mapping and Robot Exploration: A Survey. Sensors, 21.","DOI":"10.3390\/s21072445"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1686","DOI":"10.1109\/TRO.2023.3248510","article-title":"A survey on active simultaneous localization and mapping: State of the art and new frontiers","volume":"39","author":"Placed","year":"2023","journal-title":"IEEE Trans. Robot."},{"key":"ref_22","unstructured":"Morgan, Q., Ken, C., Brian, G., Josh, F., Tully, F., Jeremy, L., Rob, W., and Andrew, N. (2009). ROS: An Open-Source Robot Operating System, ICRA Workshop on Open Source Software. No. 3.2."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1137\/050624935","article-title":"Approximate Gauss\u2013Newton Methods for Nonlinear Least Squares Problems","volume":"18","author":"Gratton","year":"2007","journal-title":"SIAM J. Optim."},{"key":"ref_24","unstructured":"Watson, G.A. (July, January 28). Lecture Notes in Mathematics. Proceedings of the 7th Dundee Biennial Conference on Numerical Analysis, Dundee, UK."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1016\/S0921-8890(98)00049-9","article-title":"Active Markov Localization for Mobile Robots","volume":"25","author":"Fox","year":"1998","journal-title":"Robot. Auton. Syst."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Placed, J.A., and Castellanos, J.A. (2020). A Deep Reinforcement Learning Approach for Active SLAM. Appl. Sci., 10.","DOI":"10.3390\/app10238386"},{"key":"ref_27","unstructured":"Yamauchi, B. (1997, January 10\u201311). A frontier-based approach for autonomous exploration. Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA\u201997, \u2018Towards New Computational Principles for Robotics and Automation\u2019, Monterey, CA, USA."},{"key":"ref_28","unstructured":"(2023, January 10). Available online: https:\/\/github.com\/aws-robotics\/aws-robomaker-small-house-world."},{"key":"ref_29","unstructured":"P\u00e1zman, A. (1996). Foundations of Optimum Experimantal Design, Springer."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Stachniss, C., Grisetti, G., and Burgard, W. (2005, January 8). Information Gain-Based Exploration Using Rao-Blackwellized Particle Filters. Proceedings of the Robotics: Science and Systems I, Massachusetts Institute of Technology, Cambridge, MA, USA.","DOI":"10.15607\/RSS.2005.I.009"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Naderi, K., Rajam\u00e4ki, J., and H\u00e4m\u00e4l\u00e4inen, P. (2015, January 16\u201318). RT-RRT*: A real-time path planning algorithm based on RRT*. Proceedings of the 8th ACM SIGGRAPH Conference on Motion in Games, Paris, France.","DOI":"10.1145\/2822013.2822036"},{"key":"ref_32","unstructured":"Stentz, A. (1994). The D* Algorithm for Real-Time Planning of Optimal Traverses, Robotics Institute, Carnegie Mellon University. Technical Report; CMU-RI-TR-94-37."},{"key":"ref_33","unstructured":"Liu, X., and Gong, D. (2011, January 15\u201317). A comparative study of A-star algorithms for search and rescue in perfect maze. Proceedings of the 2011 International Conference on Electric Information and Control Engineering, Wuhan, China."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Vallve, J., and Andrade-Cetto, J. (2015, January 26\u201330). Active pose slam with RRT. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139485"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Du, J., Carlone, L., Kaouk, N.M., Bona, B., and Indri, M. (2011, January 3\u20137). A comparative study on A-SLAM and autonomous exploration with particle filters. Proceedings of the 2011 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Budapest, Hungary.","DOI":"10.1109\/AIM.2011.6027142"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/s10846-013-9981-9","article-title":"A-SLAM and exploration with particle filters using Kullback-Leibler divergence","volume":"75","author":"Carlone","year":"2013","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Mu, B., Giamou, M., Paull, L., Agha-Mohammadi, A., Leonard, J., and How, J. (2016, January 12\u201314). Information-based A-SLAM via topological feature graphs. Proceedings of the 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, USA.","DOI":"10.1109\/CDC.2016.7799127"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"1134","DOI":"10.1109\/LRA.2021.3133606","article-title":"A-SLAM with prior topo-metric graph starting at uncertain position","volume":"7","author":"Xue","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Trivun, D., Salaka, E., Osmankovic, D., Velagic, J., and Osmic, N. (2015, January 17\u201319). A-SLAM-based algorithm for autonomous exploration with Mobile Robot. Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT), Seville, Spain.","DOI":"10.1109\/ICIT.2015.7125079"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1365","DOI":"10.1109\/TRO.2008.2006706","article-title":"ISAM: Incremental Smoothing and Mapping","volume":"24","author":"Kaess","year":"2008","journal-title":"IEEE Trans. Robot."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1321","DOI":"10.1109\/TSMC.2017.2668603","article-title":"Path Planning for Active SLAM Based on the D* Algorithm with Negative Edge Weights","volume":"48","author":"Maurovic","year":"2018","journal-title":"IEEE Trans. Syst. Man Cybern Syst."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Hsiao, M., Mangelson, J.G., Suresh, S., Debrunner, C., and Kaess, M. (2020\u201324, January 24). ARAS: Ambiguity-aware robust A-SLAM based on multi-hypothesis state and map estimations. Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.","DOI":"10.1109\/IROS45743.2020.9341384"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"415","DOI":"10.1007\/978-3-319-08338-4_31","article-title":"Fast Active SLAM for Accurate and Complete Coverage Mapping of Unknown Environments","volume":"Volume 302","author":"Menegatti","year":"2016","journal-title":"Intelligent Autonomous Systems 13"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1109\/3477.558809","article-title":"Exploration of polygonal environments using range data","volume":"27","author":"Ekman","year":"1997","journal-title":"IEEE Trans. Syst. Man, Cybern. Part B"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"1100","DOI":"10.1109\/TRO.2006.886264","article-title":"Exactly Sparse Delayed-State Filters for View-Based SLAM","volume":"22","author":"Eustice","year":"2006","journal-title":"IEEE Trans. Robot."},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Soragna, A., Baldini, M., Joho, D., Kummerle, R., and Grisetti, G. (2019, January 3\u20138). A-SLAM using connectivity graphs as Priors. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8968613"},{"key":"ref_47","unstructured":"S\u00f6kmen, \u00d6., Eme\u00e7, \u015e., Yilmaz, M., and Akkaya, G. (2019, January 19\u201320). An Overview of Chinese Postman Problem. Proceedings of the 3rd International Conference on Advanced Engineering Technologies, Turkey."},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"He, Y., Liang, B., Yang, J., Li, S., and He, J. (2017). An iterative closest points algorithm for registration of 3D laser scanner point clouds with geometric features. Sensors, 17.","DOI":"10.3390\/s17081862"},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Carrillo, H., Reid, I., and Castellanos, J.A. (2012, January 14\u201318). On the comparison of uncertainty criteria for A-SLAM. Proceedings of the 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6224890"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1109\/TRO.2018.2808902","article-title":"On the importance of uncertainty representation in A-SLAM","volume":"34","author":"Neira","year":"2018","journal-title":"IEEE Trans. Robot."},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Carrillo, H., Latif, Y., Rodriguez-Arevalo, M.L., Neira, J., and Castellanos, J.A. (2015, January 26\u201330). On the Monotonicity of optimality criteria during exploration in A-SLAM. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139384"},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Bemporad, A. (2006, January 13\u201315). Model predictive control design: New trends and tools. Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA.","DOI":"10.1109\/CDC.2006.377490"},{"key":"ref_53","doi-asserted-by":"crossref","unstructured":"Jayaweera, S.K. (2015). Signal Processing for Cognitive Radios, Wiley.","DOI":"10.1002\/9781118824818"},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Qiang, W., and Zhongli, Z. (2011, January 19\u201322). Reinforcement learning model, algorithms and its application. Proceedings of the 2011 International Conference on Mechatronic Science, Electric Engineering and Computer (MEC), Jilin, China.","DOI":"10.1109\/MEC.2011.6025669"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Martinez-Marin, T., Lopez, E., and De Bernardis, C. (2011, January 5\u20139). An unified framework for A-SLAM and Online Optimal Motion Planning. Proceedings of the 2011 IEEE Intelligent Vehicles Symposium (IV), Baden-Baden, Germany.","DOI":"10.1109\/IVS.2011.5940547"},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Andrade, F., LLofriu, M., Tanco, M.M., Barnech, G.T., and Tejera, G. (2021, January 11\u201315). Active localization for mobile service robots in symmetrical and Open Environments. Proceedings of the 2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE), Natal, Brazil.","DOI":"10.1109\/LARS\/SBR\/WRE54079.2021.9605406"},{"key":"ref_57","doi-asserted-by":"crossref","unstructured":"Liu, Y., Zhu, D., Peng, J., Wang, X., Wang, L., Chen, L., Li, J., and Zhang, X. (2019, January 18\u201320). Robust active visual slam system based on Bionic Eyes. Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS), Munich, Germany.","DOI":"10.1109\/CBS46900.2019.9114468"},{"key":"ref_58","doi-asserted-by":"crossref","first-page":"104102","DOI":"10.1016\/j.robot.2022.104102","article-title":"iRotate: Active visual slam for Omnidirectional Robots","volume":"154","author":"Bonetto","year":"2022","journal-title":"Robot. Auton. Syst."},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"623","DOI":"10.1002\/j.1538-7305.1948.tb00917.x","article-title":"A mathematical theory of communication","volume":"27","author":"Shannon","year":"1948","journal-title":"Bell Syst. Tech. J."},{"key":"ref_60","unstructured":"Findeisen, R., and Allg\u00f6wer, F. (2002, January 19\u201321). An introduction to nonlinear model predictive control. Proceedings of the 21st Benelux Meeting on Systems and Control, Veldhoven, The Netherlands."},{"key":"ref_61","doi-asserted-by":"crossref","unstructured":"Chen, Y., Huang, S., Fitch, R., and Yu, J. (2018, January 21\u201325). Efficient A-SLAM based on submap joining, graph topology and convex optimization. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia.","DOI":"10.1109\/ICRA.2018.8460864"},{"key":"ref_62","unstructured":"Khosoussi, K., Sukhatme, G.S., Huang, S., and Dissanayake, G. (2016). Maximizing the Weighted Number of Spanning Trees: Near-t-Optimal Graphs. arXiv."},{"key":"ref_63","doi-asserted-by":"crossref","first-page":"260","DOI":"10.1177\/0278364918823086","article-title":"Reliable Graphs for SLAM","volume":"38","author":"Khosoussi","year":"2019","journal-title":"Int. J. Robot. Res."},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"816","DOI":"10.1109\/LRA.2022.3233230","article-title":"A General Relationship Between Optimality Criteria and Connectivity Indices for Active Graph-SLAM","volume":"8","author":"Placed","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_65","unstructured":"Placed, J.A., Rodr\u00edguez, J.J.G., Tard\u00f3s, J.D., and Castellanos, J.A. (2023). Proceedings of the Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, Springer."},{"key":"ref_66","doi-asserted-by":"crossref","unstructured":"Placed, J.A., and Castellanos, J.A. (2021, January 27). Fast Autonomous Robotic Exploration Using the Underlying Graph Structure. Proceedings of the 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic.","DOI":"10.1109\/IROS51168.2021.9636148"},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"1371","DOI":"10.21105\/joss.01371","article-title":"Manif: A micro Lie theory library for state estimation in robotics applications","volume":"5","author":"Deray","year":"2020","journal-title":"J. Open Source Softw."},{"key":"ref_68","unstructured":"Kummerle, R., Grisetti, G., Strasdat, H., Konolige, K., and Burgard, W. (2011, January 9\u201313). G2o: A General Framework for Graph Optimization. Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China."},{"key":"ref_69","doi-asserted-by":"crossref","first-page":"2031","DOI":"10.1007\/s11071-021-06731-6","article-title":"A General Framework for Modeling and Dynamic Simulation of Multibody Systems Using Factor Graphs","volume":"105","author":"Leanza","year":"2021","journal-title":"Nonlinear Dyn."},{"key":"ref_70","unstructured":"R\u00f6smann, C., Feiten, W., W\u00f6sch, T., Hoffmann, F., and Bertram, T. (2012, January 21\u201322). Trajectory Modification Considering Dynamic Constraints of Autonomous Robots. Proceedings of the ROBOTIK 2012 7th German Conference on Robotics, Munich, Germany."},{"key":"ref_71","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/100.580977","article-title":"The Dynamic Window Approach to Collision Avoidance","volume":"4","author":"Fox","year":"1997","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_72","doi-asserted-by":"crossref","first-page":"254","DOI":"10.1007\/978-3-319-91635-4_14","article-title":"SLAM-Driven Intelligent Autonomous Mobile Robot Navigation for Construction Applications","volume":"Volume 10863","author":"Smith","year":"2018","journal-title":"Advanced Computing Strategies for Engineering"},{"key":"ref_73","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1080\/01969722.2018.1541599","article-title":"Real-time A-SLAM and obstacle avoidance for an autonomous robot based on Stereo Vision","volume":"50","author":"Kalogeiton","year":"2019","journal-title":"Cybern. Syst."},{"key":"ref_74","doi-asserted-by":"crossref","unstructured":"Pang, L., Hu, J., Xiao, P., and Liu, S. (2018, January 11\u201313). A-SLAM based on geometry rules and forward simulation in Exploration Space. Proceedings of the 2018 IEEE International Conference on Information and Automation (ICIA), Wuyishan, China.","DOI":"10.1109\/ICInfA.2018.8812347"},{"key":"ref_75","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/s10514-015-9453-0","article-title":"Ceiling vision-based A-SLAM framework for dynamic and wide-open environments","volume":"40","author":"An","year":"2015","journal-title":"Auton. Robot."},{"key":"ref_76","doi-asserted-by":"crossref","unstructured":"Deng, X., Zhang, Z., Sintov, A., Huang, J., and Bretl, T. (2018, January 21\u201325). Feature-constrained active visual slam for Mobile Robot Navigation. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia.","DOI":"10.1109\/ICRA.2018.8460721"},{"key":"ref_77","doi-asserted-by":"crossref","unstructured":"Zhang, L., Zhang, Z., Siegwart, R., and Chung, J.J. (2019, January 22\u201323). Optimized motion strategy for active target localization of mobile robots with time-varying connectivity: Extended abstract. Proceedings of the 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), New Brunswick, NJ, USA.","DOI":"10.1109\/MRS.2019.8901089"},{"key":"ref_78","doi-asserted-by":"crossref","first-page":"1932","DOI":"10.4028\/www.scientific.net\/AMR.765-767.1932","article-title":"UAV A-SLAM trajectory programming based on optimal control","volume":"765\u2013767","author":"Yang","year":"2013","journal-title":"Adv. Mater. Res."},{"key":"ref_79","doi-asserted-by":"crossref","unstructured":"Lourenco, P., Batista, P., Oliveira, P., and Silvestre, C. (2015, January 15\u201318). Torwards uncertainty optimization in A-SLAM. Proceedings of the 2015 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan.","DOI":"10.1109\/CDC.2015.7402706"},{"key":"ref_80","doi-asserted-by":"crossref","unstructured":"Wu, Y., Zhang, Y., Zhu, D., Chen, X., Coleman, S., Sun, W., Hu, X., and Deng, Z. (2021, January 1\u20133). Object SLAM-based active mapping and robotic grasping. Proceedings of the 2021 International Conference on 3D Vision (3DV), London, UK.","DOI":"10.1109\/3DV53792.2021.00144"},{"key":"ref_81","unstructured":"Botteghi, N., Alaa, K., Sirmacek, B., and Poel, M. (2020, January 14\u201315). Entropy-Based Exploration for Mobile Robot Navigation: A Learning-Based Approach. Proceedings of the Planning and Robotics Workshop, Nancy, France."},{"key":"ref_82","doi-asserted-by":"crossref","first-page":"1667","DOI":"10.1109\/LRA.2023.3236573","article-title":"FAEL: Fast Autonomous Exploration for Large-Scale Environments With a Mobile Robot","volume":"8","author":"Huang","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_83","doi-asserted-by":"crossref","unstructured":"Mih\u00e1lik, M., Malobick\u00fd, B., Peniak, P., and Vestenick\u00fd, P. (2022). The New Method of Active SLAM for Mapping Using LiDAR. Electronics, 11.","DOI":"10.3390\/electronics11071082"},{"key":"ref_84","doi-asserted-by":"crossref","first-page":"1813","DOI":"10.1109\/TIV.2022.3174040","article-title":"The Gaze Control of the Active Visual SLAM with A Novel Panoramic Cost Map","volume":"8","author":"Yuwen","year":"2022","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_85","doi-asserted-by":"crossref","unstructured":"Xu, M., Song, Y., Chen, Y., Huang, S., and Hao, Q. (June, January 30). Invariant EKF based 2D A-SLAM with Exploration Task. Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi\u2019an, China.","DOI":"10.1109\/ICRA48506.2021.9561951"},{"key":"ref_86","doi-asserted-by":"crossref","first-page":"441","DOI":"10.1007\/978-3-319-51532-8_27","article-title":"Towards cooperative multi-robot belief space planning in unknown environments","volume":"l","author":"Indelman","year":"2018","journal-title":"Robot. Res."},{"key":"ref_87","doi-asserted-by":"crossref","unstructured":"Indelman, V. (October, January 28). Towards multi-robot active collaborative state estimation via belief space planning. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7354035"},{"key":"ref_88","unstructured":"Pham, V.C., and Juang, J.C. (2011, January 13\u201318). An Improved Active SLAM Algorithm for Multi-robot Exploration. Proceedings of the SICE Annual Conference, Tokyo, Japan."},{"key":"ref_89","doi-asserted-by":"crossref","unstructured":"Meng, Z., Sun, H., Qin, H., Chen, Z., Zhou, C., and Ang, M.H. (2017, January 11\u201314). Intelligent robotic system for autonomous exploration and active slam in unknown environments. Proceedings of the 2017 IEEE\/SICE International Symposium on System Integration (SII), Taipei, Taiwan.","DOI":"10.1109\/SII.2017.8279295"},{"key":"ref_90","doi-asserted-by":"crossref","unstructured":"Ossenkopf, M., Castro, G., Pessacg, F., Geihs, K., and De Cristoforis, P. (2019, January 4\u20136). Long-Horizon Active Slam system for multi-agent coordinated exploration. Proceedings of the 2019 European Conference on Mobile Robots (ECMR), Prague, Czech Republic.","DOI":"10.1109\/ECMR.2019.8870952"},{"key":"ref_91","doi-asserted-by":"crossref","unstructured":"Kontitsis, M., Theodorou, E.A., and Todorov, E. (2013, January 17\u201319). Multi-robot active slam with relative entropy optimization. Proceedings of the 2013 American Control Conference, Washington, DC, USA.","DOI":"10.1109\/ACC.2013.6580252"},{"key":"ref_92","doi-asserted-by":"crossref","first-page":"172988142092021","DOI":"10.1177\/1729881420920216","article-title":"Active collaboration in relative observation for multi-agent visual simultaneous localization and mapping based on Deep Q Network","volume":"17","author":"Pei","year":"2020","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_93","doi-asserted-by":"crossref","first-page":"1339","DOI":"10.1109\/TVT.2018.2890416","article-title":"Autonomous exploration and mapping system using heterogeneous UAVs and UGVs in GPS-denied environments","volume":"68","author":"Qin","year":"2019","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_94","doi-asserted-by":"crossref","first-page":"2200","DOI":"10.1109\/LRA.2020.2970665","article-title":"Broadcast your weaknesses: Cooperative active pose-graph slam for multiple robots","volume":"5","author":"Chen","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_95","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1109\/TGCN.2021.3107291","article-title":"Energy-efficient ground traversability mapping based on UAV-UGV collaborative system","volume":"6","author":"Li","year":"2022","journal-title":"IEEE Trans. Green Commun. Netw."},{"key":"ref_96","first-page":"2567","article-title":"A multi-robot, cooperative, and active SLAM algorithm for exploration","volume":"9","author":"Pham","year":"2013","journal-title":"Int. J. Innov. Comput. Inf. Control"},{"key":"ref_97","doi-asserted-by":"crossref","unstructured":"Pei, Z., Piao, S., Souidi, M., Qadir, M., and Li, G. (2018). Slam for humanoid multi-robot active cooperation based on relative observation. Sustainability, 10.","DOI":"10.3390\/su10082946"},{"key":"ref_98","doi-asserted-by":"crossref","first-page":"9682","DOI":"10.1016\/j.ifacol.2020.12.2618","article-title":"Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping","volume":"53","author":"Bogdan","year":"2020","journal-title":"IFAC-PapersOnLine"},{"key":"ref_99","unstructured":"Jadhav, N., Behari, M., Wood, R., and Gil, S. (2022). Multi-Robot Exploration without Explicit Information Exchange, Harvard University. Technical Report."},{"key":"ref_100","doi-asserted-by":"crossref","unstructured":"Atanasov, N., Le Ny, J., Daniilidis, K., and Pappas, G.J. (2015, January 26\u201330). Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139863"},{"key":"ref_101","doi-asserted-by":"crossref","first-page":"1025","DOI":"10.1109\/LRA.2018.2794608","article-title":"Anytime Planning for Decentralized Multirobot Active Information Gathering","volume":"3","author":"Schlotfeldt","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_102","doi-asserted-by":"crossref","first-page":"103933","DOI":"10.1016\/j.robot.2021.103933","article-title":"Sharing visual-inertial data for collaborative decentralized simultaneous localization and mapping","volume":"148","author":"Dubois","year":"2022","journal-title":"Robot. Auton. Syst."},{"key":"ref_103","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"ORB-SLAM2: An Open-source SLAM system for monocular, stereo, and RGB-D cameras","volume":"33","author":"Tardos","year":"2017","journal-title":"IEEE Trans. Robot."},{"key":"ref_104","doi-asserted-by":"crossref","first-page":"38","DOI":"10.14419\/ijet.v7i4.27.22477","article-title":"A Brief Survey on SLAM Methods in Autonomous Vehicle","volume":"7","author":"Hamzah","year":"2018","journal-title":"IJET"},{"key":"ref_105","doi-asserted-by":"crossref","unstructured":"Gammell, J.D., Srinivasa, S.S., and Barfoot, T.D. (2015, January 26\u201330). Batch Informed Trees (BIT*): Sampling-Based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139620"},{"key":"ref_106","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1016\/j.ifacol.2022.07.594","article-title":"Enough Is Enough: Towards Autonomous Uncertainty-Driven Stopping Criteria","volume":"55","author":"Placed","year":"2022","journal-title":"IFAC-PapersOnLine"},{"key":"ref_107","unstructured":"Newman, P., and Ho, K. (2005, January 18\u201322). SLAM-Loop Closing with Visually Salient Features. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain."},{"key":"ref_108","unstructured":"Cooney, M., Yang, C., Siva, A.P., Arunesh, S., and David, J. (2018, January 13\u201315). Teaching Robotics with Robot Operating System (ROS): A Behavior Model Perspective. Proceedings of the Workshop on \u201cTeaching Robotics with ROS\u201d, European Robotics Forum 2018, Tampere, Finland."},{"key":"ref_109","doi-asserted-by":"crossref","first-page":"529","DOI":"10.3182\/20090909-4-JP-2010.00090","article-title":"Trajectory Generation Based on Model Predictive Control with Obstacle Avoidance between Prediction Time Steps","volume":"42","author":"Kon","year":"2009","journal-title":"IFAC Proc. Vol."},{"key":"ref_110","doi-asserted-by":"crossref","unstructured":"Dubois, R., Eudes, A., and Fr\u00e9mont, V. (2019, January 3\u20138). On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8967617"},{"key":"ref_111","doi-asserted-by":"crossref","unstructured":"Zhao, Y., Xiong, Z., Zhou, S., Wang, J., Zhang, L., and Campoy, P. (2022). Perception-Aware Planning for Active SLAM in Dynamic Environments. Remote Sens., 14.","DOI":"10.3390\/rs14112584"},{"key":"ref_112","doi-asserted-by":"crossref","unstructured":"Bircher, A., Kamel, M., Alexis, K., Oleynikova, H., and Siegwart, R. (2016, January 16\u201321). Receding Horizon \u201cNext-Best-View\u201d Planner for 3D Exploration. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487281"},{"key":"ref_113","unstructured":"Xu, Z., Zhan, X., Xiu, Y., Suzuki, C., and Shimada, K. (2023). Low Computational-Cost Detection and Tracking of Dynamic Obstacles for Mobile Robots with RGB-D Cameras. arXiv."},{"key":"ref_114","doi-asserted-by":"crossref","first-page":"172988141774813","DOI":"10.1177\/1729881417748132","article-title":"Moving Obstacles Detection Based on Laser Range Finder Measurements","volume":"15","author":"Dekan","year":"2018","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_115","doi-asserted-by":"crossref","first-page":"340","DOI":"10.3390\/biophysica2040031","article-title":"Data Structures and Algorithms for k-th Nearest Neighbours Conformational Entropy Estimation","volume":"2","author":"Borelli","year":"2022","journal-title":"Biophysica"},{"key":"ref_116","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/s44196-023-00223-8","article-title":"A Lightweight Neural Network for Loop Closure Detection in Indoor Visual SLAM","volume":"16","author":"Zhou","year":"2023","journal-title":"Int. J. Comput. Intell. Syst."},{"key":"ref_117","doi-asserted-by":"crossref","unstructured":"Pal, S., Jhanjhi, N.Z., Abdulbaqi, A.S., Akila, D., Almazroi, A.A., and Alsubaei, F.S. (2023). A Hybrid Edge-Cloud System for Networking Service Components Optimization Using the Internet of Things. Electronics, 12.","DOI":"10.3390\/electronics12030649"},{"key":"ref_118","doi-asserted-by":"crossref","first-page":"7213044","DOI":"10.1155\/2022\/7213044","article-title":"A SLAM Algorithm Based on Edge-Cloud Collaborative Computing","volume":"2022","author":"Lv","year":"2022","journal-title":"J. Sens."},{"key":"ref_119","unstructured":"Zhang, J., Tai, L., Liu, M., Boedecker, J., and Burgard, W. (2017). Neural SLAM: Learning to Explore with External Memory. arXiv."},{"key":"ref_120","doi-asserted-by":"crossref","unstructured":"Alcalde, M., Ferreira, M., Gonzalez, P., Andrade, F., and Tejera, G. (2022, January 18). DA-SLAM: Deep Active SLAM Based on Deep Reinforcement Learning. Proceedings of the 2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE), S\u00e3o Bernardo do Campo, Brazil.","DOI":"10.1109\/LARS\/SBR\/WRE56824.2022.9996006"},{"key":"ref_121","unstructured":"Shah, S., Dey, D., Lovett, C., and Kapoor, A. (2018). Proceedings of the Field and Service Robotics: Results of the 11th International Conference, Springer."},{"key":"ref_122","unstructured":"Alan, D., German, R., Felipe, C., and Antonio, L. (2017, January 13\u201315). CARLA: An Open Urban Driving Simulator. Proceedings of the 1st Annual Conference on Robot Learning, Mountain View, CA, USA."},{"key":"ref_123","doi-asserted-by":"crossref","unstructured":"Star\u00fd, V., and Gacho, L. (2022, January 7\u20139). Webots open source robot simulator capabilities for modelling and simulation of ground-based air defence. Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika (ME), Pilsen, Czech Republic.","DOI":"10.1109\/ME54704.2022.9983365"},{"key":"ref_124","doi-asserted-by":"crossref","first-page":"101443","DOI":"10.1016\/j.softx.2023.101443","article-title":"MultiVehicle Simulator (MVSim): Lightweight Dynamics Simulator for Multiagents and Mobile Robotics Research","volume":"23","author":"Tymchenko","year":"2023","journal-title":"SoftwareX"},{"key":"ref_125","doi-asserted-by":"crossref","unstructured":"Bettens, A.M., Morrell, B., Coen, M., McHenry, N., Wu, X., Gibbens, P., and Chamitoff, G. (2020, January 6). UnrealNavigation: Simulation Software for Testing SLAM in Virtual Reality. Proceedings of the AIAA Scitech 2020 Forum, Orlando, FL, USA.","DOI":"10.2514\/6.2020-1343"},{"key":"ref_126","doi-asserted-by":"crossref","unstructured":"Xu, X., Zhang, L., Yang, J., Cao, C., Wang, W., Ran, Y., Tan, Z., and Luo, M. (2022). A Review of Multi-Sensor Fusion SLAM Systems Based on 3D LIDAR. Remote Sens., 14.","DOI":"10.3390\/rs14122835"},{"key":"ref_127","doi-asserted-by":"crossref","unstructured":"Chen, W., Zhou, C., Shang, G., Wang, X., Li, Z., Xu, C., and Hu, K. (2022). SLAM Overview: From Single Sensor to Heterogeneous Fusion. Remote Sens., 14.","DOI":"10.3390\/rs14236033"},{"key":"ref_128","doi-asserted-by":"crossref","unstructured":"Jia, Y., Luo, H., Zhao, F., Jiang, G., Li, Y., Yan, J., Jiang, Z., and Wang, Z. (2021, January 27). Lvio-Fusion: A Self-Adaptive Multi-Sensor Fusion SLAM Framework Using Actor-Critic Method. Proceedings of the 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic.","DOI":"10.1109\/IROS51168.2021.9635905"},{"key":"ref_129","doi-asserted-by":"crossref","first-page":"7040","DOI":"10.1109\/JLT.2021.3113358","article-title":"Robot Localization and Navigation Using Visible Light Positioning and SLAM Fusion","volume":"39","author":"Guan","year":"2021","journal-title":"J. Light. Technol."},{"key":"ref_130","doi-asserted-by":"crossref","unstructured":"Benabid, S., Latour, L., Poulain, S., and Jaafar, M. (2019, January 4\u20137). FPGA-Based Real-Time Embedded Vision System for Autonomous Mobile Robots. Proceedings of the 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems (MWSCAS), Dallas, TX, USA.","DOI":"10.1109\/MWSCAS.2019.8884889"},{"key":"ref_131","doi-asserted-by":"crossref","unstructured":"Marroqu\u00edn, A., Garcia, G., Fabregas, E., Aranda-Escol\u00e1stico, E., and Farias, G. (2023). Mobile Robot Navigation Based on Embedded Computer Vision. Mathematics, 11.","DOI":"10.3390\/math11112561"},{"key":"ref_132","doi-asserted-by":"crossref","unstructured":"Farias, G., Fabregas, E., Torres, E., Bricas, G., Dormido-Canto, S., and Dormido, S. (2020). A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots. Sensors, 20.","DOI":"10.20944\/preprints202007.0326.v1"},{"key":"ref_133","doi-asserted-by":"crossref","unstructured":"Nasser, A.R., Hasan, A.M., Humaidi, A.J., Alkhayyat, A., Alzubaidi, L., Fadhel, M.A., Santamar\u00eda, J., and Duan, Y. (2021). IoT and Cloud Computing in Health-Care: A New Wearable Device and Cloud-Based Deep Learning Algorithm for Monitoring of Diabetes. Electronics, 10.","DOI":"10.3390\/electronics10212719"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/19\/8097\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:59:06Z","timestamp":1760129946000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/19\/8097"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9,27]]},"references-count":133,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2023,10]]}},"alternative-id":["s23198097"],"URL":"https:\/\/doi.org\/10.3390\/s23198097","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9,27]]}}}