Planning for Simultaneous Localization and Mapping Using Topological Information

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.