I. INTRODUCTION

II. THE ACTIVE SLAM PROBLEM

III. STAGE 1: IDENTIFICATION OF POTENTIAL ACTIONS

IV. STAGE 2: UTILITY COMPUTATION

V. STAGE 3: ACTION SELECTION AND EXECUTION

VI. BELIEF-SPACE PLANNING AND CONTINUOUS-SPACE OPTIMIZATION

VII. DEEP-LEARNING-BASED APPROACHES

VIII. MULTI-ROBOT ACTIVE SLAM

IX. OPEN RESEARCH QUESTIONS

X. CONCLUSIONS