This is implementation of "Information-based Active SLAM via Topological Feature Graphs"
This project based on ros and turtlebot, please setup the right ROS environment first The code is written in C++ and as a ROS package. This project uses isam slam solver, which is already included as source code.
Please cite the original paper.
@inproceedings{beipengmu2016cdc,
author={Beipeng Mu and Matthew Giamou and Liam Paull and John Leonard and Jonathan P. How},
Booktitle = {IEEE Conference on Decision and Control (CDC)},
Keywords = {SLAM, path planning},
Month = {December},
Title = {Information-based Active SLAM via Topological Feature Graphs},
Year = {2016}
}