This article presents a comprehensive review of the 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). This 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. This 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：本文全面综述了过去十年间主动同时定位与地图构建（A-SLAM）领域的研究进展。文章探讨了A-SLAM的公式表述、应用场景及方法论，特别关注轨迹生成与控制动作选择问题，并借鉴信息论（IT）与最优实验设计理论（TOED）的相关概念。本综述包含对A-SLAM研究中各类方法、部署场景、配置方案、路径规划策略及效用函数的定性与定量分析。此外，本文首次提出主动协作SLAM（AC-SLAM）的创新性分析，重点阐述SLAM系统中的协作机制。研究涵盖协作参数与方法的深入探究，并辅以定性与统计评估。本研究同时指出现有文献的局限性，并展望未来潜在研究方向。本文为深入理解A-SLAM方法与技术的研究者提供重要参考，系统呈现当前A-SLAM公式体系的完整概览。