Navigation Strategies for Exploring Indoor Environments

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Robotic mapping: a survey (2003, background): “Today’s approaches are usually greedy, that is, they chose control by greedily maximizing information gain [12, 17, 89, 105], sometimes under consideration of safety constraints [37].”
Active vision in robotic systems: A survey of recent developments (2011, background): “Gonzalez-Banos and Latombe (2002) proposed an algorithm to guide the robot through a series of ‘good’ positions, where ‘good’ refers to the expected amount and quality of the information that will be revealed at each new location.”
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers (2022, background): “The simplest approach consists of randomly selecting the goal destinations [106], [107].”
Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS (2006, background): “SLAM has been especially succesful in indoor structured environments [9, 7, 20].”
Receding Horizon "Next-Best-View" Planner for 3D Exploration (2016, methodology): “The quality - or collected information gain - of a node Gain ( n ) is the summation of the unmapped volume that can be explored at the nodes along the branch, e.g. for node k , according to with the tuning factor λ penalizing high path costs [18].”