Cyrill Stachniss Giorgio Grisetti Wolfram Burgard Information Gain-based Exploration Using Rao-Blackwellized Particle Filters. 65-72 2005 conf/rss/2005 Robotics: Science and Systems http://www.roboticsproceedings.org/rss01/p09.html db/conf/rss/rss2005.html#StachnissGB05