Active Mapping and Robot Exploration: A Survey

Simultaneous localization and mapping responds to the problem of building a map of the environment without any prior information and based on the data obtained from one or more sensors. In most situations, the robot is driven by a human operator, but some systems are capable of navigating autonomously while mapping, which is called native simultaneous localization and mapping. This strategy focuses on actively calculating the trajectories to explore the environment while building a map with a minimum error. In this paper, a comprehensive review of the research work developed in this field is provided, targeting the most relevant contributions in indoor mobile robotics.

Automated summary

Simultaneous localization and mapping (SLAM) aims to build a map of the environment without prior information, using data obtained from sensors. Local SLAM allows robots to autonomously navigate while exploring the environment and constructing a map, minimizing mapping errors.