000126293 001__ 126293
000126293 005__ 20241125101151.0
000126293 0247_ $$2doi$$a10.1109/TRO.2023.3248510
000126293 0248_ $$2sideral$$a133664
000126293 037__ $$aART-2023-133664
000126293 041__ $$aeng
000126293 100__ $$0(orcid)0000-0002-1361-9529$$aPlaced, Julio A.$$uUniversidad de Zaragoza
000126293 245__ $$aA survey on active simultaneous localization and mapping: state of the art and new frontiers
000126293 260__ $$c2023
000126293 5060_ $$aAccess copy available to the general public$$fUnrestricted
000126293 5203_ $$aActive simultaneous localization and mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active perception appeared, more than three decades ago, this field has received increasing attention across different scientific communities. This has brought about many different approaches and formulations, and makes a review of the current trends necessary and extremely valuable for both new and experienced researchers. In this article, we survey the state of the art in active SLAM and take an in-depth look at the open challenges that still require attention to meet the needs of modern applications. After providing a historical perspective, we present a unified problem formulation and review the well-established modular solution scheme, which decouples the problem into three stages that identify, select, and execute potential navigation actions. We then analyze alternative approaches, including belief-space planning and deep reinforcement learning techniques, and review related work on multirobot coordination. This article concludes with a discussion of new research directions, addressing reproducible research, active spatial perception, and practical applications, among other topics.
000126293 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000126293 590__ $$a9.4$$b2023
000126293 592__ $$a3.669$$b2023
000126293 591__ $$aROBOTICS$$b4 / 46 = 0.087$$c2023$$dQ1$$eT1
000126293 593__ $$aElectrical and Electronic Engineering$$c2023$$dQ1
000126293 593__ $$aControl and Systems Engineering$$c2023$$dQ1
000126293 593__ $$aComputer Science Applications$$c2023$$dQ1
000126293 594__ $$a14.9$$b2023
000126293 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000126293 700__ $$aStrader, Jared
000126293 700__ $$aCarrillo, Henry
000126293 700__ $$aAtanasov, Nikolay
000126293 700__ $$aIndelman, Vadim
000126293 700__ $$aCarlone, Luca
000126293 700__ $$0(orcid)0000-0001-5977-8720$$aCastellanos, Jose A.$$uUniversidad de Zaragoza
000126293 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000126293 773__ $$g(2023), [20 pp]$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098
000126293 8564_ $$s485452$$uhttps://zaguan.unizar.es/record/126293/files/texto_completo.pdf$$yPostprint
000126293 8564_ $$s3652527$$uhttps://zaguan.unizar.es/record/126293/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000126293 909CO $$ooai:zaguan.unizar.es:126293$$particulos$$pdriver
000126293 951__ $$a2024-11-22-12:06:59
000126293 980__ $$aARTICLE