Active SLAM is formulated as a POMDP with a novel exploration cost encoding state geometry, yielding rigorously justified near-optimal approximate policies learned via standard algorithms.
Active SLAM over continuous trajectory and control: A covariance-feedback approach
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SLAM as a Stochastic Control Problem with Partial Information: Optimal Solutions and Rigorous Approximations
Active SLAM is formulated as a POMDP with a novel exploration cost encoding state geometry, yielding rigorously justified near-optimal approximate policies learned via standard algorithms.