Autonomous Robotic Exploration Using Occupancy Grid Maps and Graph SLAM Based on Shannon and Rényi Entropy,

H. Carrillo, P. Dames, V. Kumar, and J. Castellanos, “Autonomous Robotic Exploration Using Occupancy Grid Maps and Graph SLAM Based on Shannon and Rényi Entropy,” in 2015 IEEE International Conference on Robotics and Automation, 2015.