This article presents a comprehensive review of Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly in trajectory generation and control action selection, drawing on concepts from Information Theory (IT) and the Theory of Optimal Experimental Design (TOED). The review includes both qualitative and quantitative analyses of various approaches, deployment scenarios, configurations, path planning methods, and utility functions within A-SLAM research. Furthermore, this article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM), focusing on collaborative aspects within SLAM systems. It includes a thorough examination of collaborative parameters and approaches, supported by both qualitative and statistical assessments. The study also identifies limitations in the existing literature and suggests potential avenues for future research. This survey serves as a valuable resource for researchers seeking insights into A-SLAM methods and techniques, offering a current overview of A-SLAM formulation.

翻译：本文对过去十年中主动同时定位与地图构建（A-SLAM）研究进行了全面综述。文章从信息论（IT）与最优实验设计理论（TOED）角度，深入探讨了A-SLAM的数学建模、应用场景及方法论，特别是在轨迹生成与控制动作选择方面的应用。该综述涵盖了对A-SLAM研究中各类方法、部署场景、系统配置、路径规划策略及效用函数的定性与定量分析。此外，本文首次引入对主动协作SLAM（AC-SLAM）的创新性分析，聚焦于SLAM系统中的协作机制。研究通过定性与统计评估，系统考察了协作参数与方法，同时指出现有文献的局限性，并为未来研究提出了潜在方向。本综述为研究者深入理解A-SLAM方法与技术提供了重要参考，并呈现了当前A-SLAM研究框架的最新概览。